Moving Object Detection with Single Moving Camera and IMU Sensor using Mask R-CNN Instance Image Segmentation

This paper describes a new method for the moving object detection using the IMU sensor and instance image segmentation. In the proposed method, the feature points are extracted by the detector, and the initial fundamental matrix is calculated from the IMU data. Next, the epipolar line is used to classify the extracted feature points. From the background feature point matching, fundamental matrix is calculated iteratively to minimize the error of classification. After the feature point classification, image segmentation is used to enhance the quality of the classification result. The proposed method is implemented and tested with real-world driving videos, and compared with the previous works.