Image Subtraction for Change Detectionby Patrolling Robots with Omnidirectional Camera

In this paper, we focus on a robotic patrolling system. Robots are required to detect changes, such as lost and stolen properties, in the patrolling environment. For this mission, an omnidirectional camera is applied to a mobile robot. In order for the patrolling robot to detect such properties, we propose an image subtraction method. In the experiments, we show that the robot based on the proposed method is able to detect not only a small object, e.g., iPhone, but also a fire extinguisher removed from the original location.