Perceiving the environment is crucial in any application related to mobile robotics research. In this paper, a new approach to real-time human detection through processing video captured by a thermal infrared camera mounted on the autonomous mobile platform mSecurit TM is introduced. The approach starts with a phase of static analysis for the detection of human candidates through some classical image processing techniques such as image normalization and thresholding. Then, the proposal starts a dynamic image analysis phase based in optical flow or image difference. Optical flow is used when the robot is moving, whilst image difference is the preferred method when the mobile platform is still. The results of both phases are compared to enhance the human segmentation by infrared camera. Indeed, optical flow or image difference will emphasize the foreground hot spot areas obtained at the initial human candidates' detection.
Segmentation of moving objects is an essential component of any vision system. However, its accomplishment is hard due to some challenges such as the occlusion treatment or the detection of objects with deformable appearance. In this paper an artificial neuronal network approach for moving object segmentation, called lateral interaction in accumulative computation (LIAC), which uses accumulative computation and recurrent lateral interaction is revisited. Although the results reported for this approach so far may be considered relevant, the problems faced each time (environment, objects of interest, etc.) make that the system outcome varies. Hence, our aim is to improve segmentation provided by LIAC in a double sense: by removing the detected objects not matching some size or compactness constraints, and by learning suitable parameters that improve the segmentation behavior through a genetic algorithm.
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