Abstract
Rapid and automatic extraction of pollutants is of great importance for mobile camera in real-world scenarios. In the moving process of robot, the camera is treated as dynamic background, and the pollutants on the camera are treated as static target. So as to realize the detection of static target in dynamic scene, this paper presents an automatic extraction algorithm for pollutants based on frame difference accumulation. Firstly, this algorithm can determine whether pollutants exist or not by the overall trend of gray histogram of the cumulative frame difference images. And then if existing pollutants, Otsu algorithm was adopted to adaptively calculate threshold to convert the gray image into binary image. In this paper, analysis of the important parameters of the algorithm - cumulative frame number and frame difference threshold was implemented. Moreover, feasibility of the algorithm was verified by experiments on the automatic extraction of pollutants for gun-type camera.
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