Moving object detection in mobile robot using an omnidirectional camera

J. C. Kim, T. Tanizawa, Y. Suga, N. Miki

Research output: Contribution to conferencePaper


This paper describes a moving object detection method in mobile robot with an omnidirectional camera. The estimated optical flow is affected by the geometry characteristic of an omnidirectional camera. Focus of expansion (FOE) and focus of contraction (FOC) vectors are defined in panoramic image. Moving objects are turned out through the relative evaluation of flow using FOE and FOC vectors.

Original languageEnglish
Number of pages4
Publication statusPublished - 2005 Dec 1
EventSICE Annual Conference 2005 - Okayama, Japan
Duration: 2005 Aug 82005 Aug 10


OtherSICE Annual Conference 2005



  • FOE and FOC
  • Moving object detection
  • Omnidirectional camera
  • Optical flow

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Kim, J. C., Tanizawa, T., Suga, Y., & Miki, N. (2005). Moving object detection in mobile robot using an omnidirectional camera. 1696-1699. Paper presented at SICE Annual Conference 2005, Okayama, Japan.