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One of fundamental issues for security robots is to detect and track peoplein the surroundings. The main problems of this task are real-time constraints,a changing background, varying illumination conditions and a non-rigid shape ofthe person to be tracked. In this paper, we propose a solution for trackingwith a pan-tilt camera and a passive infrared range (PIR) sensor to detect themoving object based on consecutive frame difference. The proposed method isexcellent in real-time performance because it requires only a little memory andcomputation. Experiment results show that this method can detect the movingobject such as human efficiently and accurately in non-stationary and complexindoor environment.

Pan-Tilt Camera and PIR Sensor Fusion Based Moving Object Detection for Mobile Security Robots