Pan-Tilt Camera and PIR Sensor Fusion Based Moving Object Detection for Mobile Security Robots
This addresses real-time moving object detection for security robots, but it is incremental as it combines existing sensors and methods.
The paper tackled the problem of detecting and tracking people for mobile security robots by proposing a fusion of pan-tilt camera and PIR sensor with consecutive frame difference, achieving efficient and accurate detection in complex indoor environments.
One of fundamental issues for security robots is to detect and track people in the surroundings. The main problems of this task are real-time constraints, a changing background, varying illumination conditions and a non-rigid shape of the person to be tracked. In this paper, we propose a solution for tracking with a pan-tilt camera and a passive infrared range (PIR) sensor to detect the moving object based on consecutive frame difference. The proposed method is excellent in real-time performance because it requires only a little memory and computation. Experiment results show that this method can detect the moving object such as human efficiently and accurately in non-stationary and complex indoor environment.