In this paper, two novel morphological event detection algorithms are proposed for a vision based warning system, in consideration of a situation of camera trembling such as on board a ship. Under such a trembling of camera, the difference image appears edge-like streaks and so it is not adequate to use the statistics of difference image directly for an event detection. The proposed algorithms, based on the difference image, exploit morphological filters to sequentially threshold images by a set of thresholds so as to remove the edge-like component of the difference image, while keeping the vestige of events. The simulation results show a good performance robust to camera trembling.
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