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Page 139 Tang et al. Intell Robot 2022;2(2):13044 I http://dx.doi.org/10.20517/ir.2022.07
Clip1
Clip2
(a) (b) (c) (d) (e) (f)
Figure 5. The moving object detection experiments on the video Highway (Clip1) and People (Clip2): (a) the first frame; (b) the frame for
detection; (c) the ground-truth; (d) the result of GMM; (e) the result of G-ViBe; and (f) the result of I-ViBe.
Table 3. The valuation of the three methods for moving objects detection on Highway and People
The valuation The video clip1 The video clip2
indices GMM [32] G-ViBe [35] I-ViBe GMM [32] G-ViBe [35] I-ViBe
SP 0.8765 0.9910 0.9979 0.9998 0.9915 0.9992
RE 0.7843 0.8554 0.9674 0.1545 0.8616 0.9849
FPR 0.1234 0.0089 0.0020 0.0001 0.0084 0.0007
FNR 0.2156 0.1445 0.0325 0.8454 0.1383 0.0150
PWC 0.1307 0.0196 0.0041 0.0059 0.0097 0.0008
PRE 0.3532 0.8918 0.9713 0.8834 0.5110 0.8943
F 0.4871 0.8732 0.9694 0.2630 0.6415 0.9374
Clip1
Clip2
(a) (b) (c) (d) (e) (f)
Figure 6. The moving object detection experiments under challenging conditions: (a) the first frame; (b) the frame for detection; (c) the
ground-truth; (d) the result of GMM; (e) the result of G-ViBe; and (f) the result of I-ViBe.
combined with the edge information (see Figure 5 and Table 3). Furthermore, there are also ghost problems in
the detection results of the experiment on People (Clip2) based on the G-ViBe, because the first frame includes
the moving objects (see Figure 5e).
4.3. The experiment under challenging conditions
To further test the performance of the proposed method for moving object detection under some challenging
conditions, two extensive experiments were conducted in the dataset of Fall (Clip1) and Boulevard (Clip2),
respectively. In the Fall dataset, the background is changing obviously because of the leaves shaking violently.
In the Boulevard dataset, the video is blurry due to the shake of the camera. The results of these experiments
are shown in Figure 6 and Table 4.
The results in the two experiments show that the performances of all the three methods decrease under dy-