808 情景画像からの移動物体検出アルゴリズムとそのCPLDによる実現(感覚・計測とロボティクス・メカトロニクスII)(OS.12 感覚・計測とロボティクス・メカトロニクス)

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  • 808 Algorithm for Detecting Moving Object Using Scene Image and Its Implementation by CPLD

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We propose a real-time algorithm for detecting moving objects from images taken by a CCD-camera mounted on a recomotion robot. In addition, we describe the methodology for implementing the algorithm on CPLD. A detecting evaluation function of moving objects calculates the average of partial differences degrees between frames as a whole difference. Each partial difference is calculated from edge density of rectangle regions of a binarized edge map. To find influence of the complexity of background and the size of moving objects to the partial and whole difference degree, we have made experiments on simulation. Finally, using our proposed algorithm, a real-time detector for moving object was designed and implemented into CPLD.

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