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Aug 03, 2016, 12:51 AM
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Holy hairpieces that's hard

So basically, detecting motion via difference keying was a total failure. The noise from the webcam in indoor conditions was too close to the noise from the motion. Furthermore, indoor light sources always overwhelmed any other objects. It couldn't tell whether a subject or the camera was moving because color changes by indoor points of light overwhelmed any global color changes.

The next, super simple idea, was to use the old XV-11 lidar module to detect motion.

Motion detection by LIDAR (2 min 26 sec)

The XV-11 tries to detect a lion walking around the room. A window reflects the LIDAR in 1 place, but doesn't affect its ability to detect motion. The soundings are shown in polar coordinates, then in X-Y coordinates. It does 4.9 revolutions per second. 4 revolutions are stacked to try to reduce the noise, but it doesn't look good for LIDAR motion detection. The lion goes 3m away. Another project is sharing the tripod with the LIDAR.

The problem was once again noise. It would have a hard time differentiating the bubbling of the stationary wall 3.5m away from a slowly moving subject. Of course, there's still a chance common differentiation between the LIDAR plots will prove more robust than feared, but that's another commute away.

The X-Y or the polar plots could be differentiated. The X-Y plot would detect motion tangential to the camera better than motion towards the camera. The polar plot would probably do better in both axes.

Since the camera is stationary, another method is taking a long LIDAR exposure & just subtracting it like a static scene. It would have a hard time with furniture & pillows changing position.
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