Detecting and tracking moving objects from a moving platform
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Detecting and tracking moving objects are important topics in computer vision research. Classical methods perform well in applications of steady cameras. However, these techniques are not suitable for the applications of moving cameras because the unconstrained nature of realistic environments and sudden camera movement makes cues to object positions rather fickle. A major difficulty is that every pixel moves and new background keeps showing up when a handheld or car-mounted camera moves. In this dissertation, a novel estimation method of camera motion parameters will be discussed first. Based on the estimated camera motion parameters, two detection algorithms are developed using Bayes' rule and belief propagation. Next, an MCMC-based feature-guided particle filtering method is presented to track detected moving objects. In addition, two detection algorithms without using camera motion parameters will be further discussed. These two approaches require no pre-defined class or model to be trained in advance. The experiment results will demonstrate robust detecting and tracking performance in object sizes and positions.