Video Static Foreground Detection Method for Desktop Robotic Arm

Although there are many efficient methods to detect the foreground from video frames, these methods are not completely applicable to the application scenario of desktop robotic arm. This paper presents a video static foreground detection method suitable for the desktop robotic arm application scenario. In our method, an auxiliary board is used to decrease false detection caused by camera-shake and work area movement, and to effectively eliminate non-target foreground interference such as human hands. In addition, with the auxiliary board we can also accurately calculate the 2-dimensional position and posture of the foreground. This method is general applicable to most desktop robotic arm application scenarios. Furthermore, compared with the traditional foreground detection method, this paper presents the 3-frames threshold method to solve the problem of multi-texture background environment appears many noise. What's more, for the problem that it is difficult to classify when the foreground colors are similar to the background colors, this paper presents the difference degree to describe pixels.