Developing Detection and Tracking Algorithm Working on a Mobile Robot.

Our goal is to develop algorithms that we can apply on mobile robots, but currently we focus on algorithms for static camera in order to form our fundamental structure.

Detection

When detecting object, we need to consider noises due to environmental changes, illumination changes, and many other causes.

Detection in dynamic environment

Detection when there is illumination change

 Current techniques for background subtraction have limitations as you can see from the images above. There are many false alarms caused by noises such as tree waving, color similarities between background and foreground, etc. Besides, pixel intensities change through the whole area when illumination changes and it is hard to decide if the change is from the light or from the foreground movement. To solve such problems, we are trying to model noises precisely so that we can correctly figure out where those false alarms coming from. Moreover, we are developing detection algorithm which is also robust to weather conditions like rain, snow, or wind.

Detecting the objects at a long distance