A Robust Motion Detection Technique for Dynamic Environment Monitoring: A Framework for Grid-Based Monitoring of the Dynamic Environment
Qadeer Baig, Mathias Perrollaz, Christian Laugier · IEEE Robotics & Automation Magazine · 2014
The Bayesian occupancy filter (BOF) provides a framework for grid-based monitoring of the dynamic environment. It allows us to estimate dynamic grids, containing both information of occupancy and velocity. Clustering such grids then provides detection of the objects in the observed scene.