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A study on detecting moving objects via projective transformation

We analyze the proposed correspondence methods in detail, and new interpretations of them are given so that new method is proposed based on this result. Here the epipole and the epipolar line play an important role. Then a method in general camera configuration is proposed. This method is easily constructed by using singular value decomposition and projective transformation. Furthermore it shows that this method is effective under the environment of a moving camera. Based on the new method proposed for the correspondence problem, we propose a method to detect moving objects by using a camera on a mobile robot.