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Extract and display moving object in all direction by using stereo omnidirectional system (SOS)

In the near future, a robot for use not only in industrial purpose but also a typical families may be introduced. In order to support human behavior it is necessary for robot vision to acquire information in large spaces. To obtain this information, we acquire three dimensional data in all direction by using SOS (Stereo Omnidirectional System), extract the moving object such as a human and display the extracted object. There are many systems for moving object extraction using color information. However the result is influenced greatly by a lighting condition. In this paper to acquire distance information in all directions during real time by SOS, we propose a method that extracts the moving object in all directions by using a depth map. Finally, we also developed an interface that displays the moving object, which is extracted.