Year of Graduation
Development of specific object detection system on noisy video
The problem of automatic detection of the moving forklift truck in video data is explored. This task is formulated in terms of computer vision approach as a moving object detection in noisy environment. It is shown that the state-of-the-art local descriptors (SURF, SIFT, FAST, ORB) are not characterized with satisfactory detection quality if the camera resolution is low, the lighting is changed dramatically and shadows are observed.In this paper, we propose to use a simple mathematical morphological algorithm to detect the presence of a cargo on the forklift truck. Its first step is the estimation of the movement direction and the front part of the truck by using the updating motion history image. The second step is the application of Canny contour detection and binary morphological operations in front of the moving object to estimate simple geometric features of empty forklift.The algorithm is implemented with the OpenCV library. Our experimental study shows that the best results are achieved if the difference of the width of bounding rectangles is used as a feature. Also shown that proposed method is less affected when the artificial impulse noise added. Concerning the detection accuracy, method also showed good results: 78.7% accuracy (compare with 44% achieved by the best local descriptor), while the average frame processing time is only 5 ms (compare with 35 ms for the fastest descriptor).