We propose a novel srarisrical measrrre for robirsr event derecrion, called 'Radial Reuchfilrer' (RRF). The capabilin nfderecring new ohjecrs (evenrs)from a rime-series iniage is an imporranr problern of vision sysrems. The icsiral method of derecting nen objecrs is simple background subrrucrion rhar is ro subrrucr crrrrenr image frnm a backgroimd inrage. However: simple backgroicnd sirbrracrion is susceprible rr, illrrmiiinrion change such as shadows. And when rtie briglrrriess difference betweeti e w m and a background is small, if catinor derecr the difference. I n order ro solve sirch kind of problems, we propose rlie RRF drich evaluares a local rexrrire mid realize mbrrsr e w i r derecrion. 'The e.rperimenr using rhe real inroge shows rtie effecriveness of rhe proposed merhods. Firrrlrermore. rhe e.rperinienr trsing all-direcrionul image from U srereo omni-directional S J .~ rem (SOS) s h o~~ rlie possibilir: of rlre upplicarion ro an e~~~i~o n m e n r -m o t~i r o r L l g sysrem ere.

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