Robust detection of moving objects from a moving platform:A sensor fusion approach
Runsheng Wang · Journal of Computer Applications · 2008
Robust detection of moving objects from a moving platform is required for lots of applications,but is not easily achievable with vision sensor alone.A multiple sensor fusion scheme was proposed to overcome the shortcomings of single sensor.With the aid of inertial sensor and range sensor,a coarse-to-fine strategy was adopted to locate the moving objects in the video sequence.The image measurement after registration was used to suppress the drift problem of the inertial sensor in the framework of extended Kalman filtering in order to make the system work well for long time.Experimental results demonstrate the effectiveness of the proposed algorithm.