• Volodymyr Kharchenko National Aviation University
  • Nataliia Kuzmenko National Aviation University
  • Alexander Kukush Taras Shevchenko National University of Kyiv



intelligent transport system, kernel density estimation, foreground, background, video stream


The paper considers aspects of foreground detection in dynamic scenes of intelligent transport system based on computer vision and artificial intelligence. Traditional and recent background modeling models have been considered. Nonparametric approach for background subtraction based on the kernel model was used as the most appropriate in dynamic environment. The value of the estimated kernel density function for each pixel of original image was compared with threshold value, estimated by Otsu’s method. The proposed kernel density estimation method was verified on video-stream containing moving objects and indicated good performance for Unmanned Aerial Vehicles application.

Author Biographies

Volodymyr Kharchenko, National Aviation University

Doctor of Engineering. Professor. Vice-Rector on Scientific Work of the National Aviation University, Kyiv, Ukraine. Editor-in-Chief of the scientific journal Proceedings of the National Aviation University. Winner of the State Prize of Ukraine in Science and Technology, Honorable Worker of Science and Technology of Ukraine. Education: Kyiv Institute of Civil Aviation Engineers, Kyiv, Ukraine. Research area: management of complex socio-technical systems, air navigation systems and automatic decision-making systems aimed at avoidance conflict situations, space information technology design, air navigation services in Ukraine provided by СNS/АТМ systems.

Nataliia Kuzmenko, National Aviation University

Candidate of Engineering. Junior researcher. National Aviation University. Education: National Aviation University, Kyiv, Ukraine (2013). Research area: navigation and control of dynamic systems, artificial intelligence.

Alexander Kukush, Taras Shevchenko National University of Kyiv

Doctor of Physical and Mathematical Sciences. Professor. Faculty of Mechanics and Mathematics, Taras Shevchenko National University of Kyiv. Education: Taras Shevchenko Kyiv State University, Kyiv, Ukraine (1979). Research area: navigation and control of dynamical systems, mathematical and applied statistics, financial and actuarial mathematics.


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How to Cite

Kharchenko, V., Kuzmenko, N., & Kukush, A. (2019). FOREGROUND DETECTION IN DYNAMIC SCENES OF INTELLIGENT TRANSPORT SYSTEMS. Proceedings of National Aviation University, 80(3), 14–20.




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