{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2023,10,22]],"date-time":"2023-10-22T20:10:10Z","timestamp":1698005410425},"reference-count":8,"publisher":"Wiley","issue":"6","license":[{"start":{"date-parts":[[2007,3,21]],"date-time":"2007-03-21T00:00:00Z","timestamp":1174435200000},"content-version":"vor","delay-in-days":7384,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Systems &amp; Computers in Japan"],"published-print":{"date-parts":[[1987,1]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>This paper describes a method by which a robot with vision can detect moving objects or obstacles in an environment, by analyzing the consecutive images obtained during its movement in an artificial environment such as inside of a building or a plant. In this paper, it is assumed that the environment is a corridor in a building, which satisfies the following two conditions.<\/jats:p><jats:p>(1) The wall of the corridor is planar and is vertical to the floor, and (2) the floor is flat. Under these two assumptions, the optical flow pattern can be estimated for the background (corridor). Assuming that the moving object is performing a parallel translation, the moving object can be extracted from the background by comparing the relative magnitudes of their optical flows, providing the necessary informations to the moving robot. The proposed method has a versatility since no geometrical model is employed which is composed of numerical data. The method utilizes only those properties which are valid in most cases of the artificial environment. An experimental example, the result of analysis for a corridor in a building is shown.<\/jats:p>","DOI":"10.1002\/scj.4690180604","type":"journal-article","created":{"date-parts":[[2007,7,7]],"date-time":"2007-07-07T13:52:26Z","timestamp":1183816346000},"page":"38-46","source":"Crossref","is-referenced-by-count":0,"title":["Finding of objects moving against a static environment by a moving observer"],"prefix":"10.1002","volume":"18","author":[{"given":"Yasushi","family":"Yagi","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Minoru","family":"Asada","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Saburo","family":"Tsuji","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2007,3,21]]},"reference":[{"key":"e_1_2_1_2_2","unstructured":"S.Tsuji.Monitoring of a building environment by a mobile robot Proc. 2nd ISRR Kyoto (1984)."},{"key":"e_1_2_1_3_2","unstructured":"M.Yachida T.IchinoseandS.Tsuji.Model\u2010guided monitoring of a building environment by a mobile robot Proc. 8th IJCAI pp.1125\u20131127(1983)."},{"key":"e_1_2_1_4_2","first-page":"238","article-title":"Determining instantaneous direction of motion from optical flow generated by a curvilinearly moving observer","volume":"17","author":"Prazdny K.","year":"1981","journal-title":"CGIP"},{"issue":"1","key":"e_1_2_1_5_2","first-page":"3","article-title":"Passive navigation","volume":"21","author":"Bruss A. R.","year":"1983","journal-title":"CVGIP"},{"key":"e_1_2_1_6_2","article-title":"Guidance of the moving robot by vision","volume":"3202","author":"Kameshima Ogawa","year":"1984","journal-title":"Proc. 2nd Robotic Soc. Jap."},{"key":"e_1_2_1_7_2","first-page":"256","article-title":"Determining vanishing points from perspective images","volume":"26","author":"Magee M. J.","year":"1984","journal-title":"CVGIP"},{"key":"e_1_2_1_8_2","doi-asserted-by":"publisher","DOI":"10.1109\/PROC.1983.12684"},{"key":"e_1_2_1_9_2","article-title":"General\u2010purpose small\u2010scale image processor","volume":"1624","author":"Yamaguchi","year":"1985","journal-title":"Nat. Conv. I. E. C. E., Japan"}],"container-title":["Systems and Computers in Japan"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Fscj.4690180604","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/scj.4690180604","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,10,21]],"date-time":"2023-10-21T02:29:43Z","timestamp":1697855383000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/scj.4690180604"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1987,1]]},"references-count":8,"journal-issue":{"issue":"6","published-print":{"date-parts":[[1987,1]]}},"alternative-id":["10.1002\/scj.4690180604"],"URL":"https:\/\/doi.org\/10.1002\/scj.4690180604","archive":["Portico"],"relation":{},"ISSN":["0882-1666","1520-684X"],"issn-type":[{"value":"0882-1666","type":"print"},{"value":"1520-684X","type":"electronic"}],"subject":[],"published":{"date-parts":[[1987,1]]}}}