警備ロボットのためのRGBカメラによる差分画像からの空間変化検出

抄録

One of an important mission for patrolling robots is to find suspicious and lost objects in an environment. For this mission, we use a mobile robot equipped with an RGB camera. In order for the patrolling robot to find such objects, we propose a change detection method in 3D space based on RGB images. This method adopts a background subtraction technique. For background subtraction, an original image without objects is captured beforehand. After that, target images with objects are captured, and the differential images from the original are used for Sauvola’s binarization. For difference possibility areas in the two images, moreover, the similarity is calculated on the basis of ZNCC (Zero-mean Normalized Cross Correlation). Through the experiments, we show that it is possible to find small objects, such as ID cards and cell phones in an indoor environment regardless of the illumination.