Visual tracking in stereo
Abstract
A method is described for visual object tracking by a computer vision system using TV cameras and special low-level image processing hardware. The tracker maintains an internal model of the location, orientation, and velocity of the object in three-dimensional space. This model is used to predict where features of the object will lie on the two-dimensional images produced by stereo TV cameras. The differences in the locations of features in the two-dimensional images as predicted by the internal model and as actually seen create an error signal in the two-dimensional representation. This is multiplied by a generalized inverse Jacobian matrix to deduce the error in the internal model. The procedure repeats to update the internal model of the object's location, orientation and velocity continuously.
- Publication:
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In: Joint Automatic Control Conference
- Pub Date:
- 1981
- Bibcode:
- 1981jac.....1R....S
- Keywords:
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- Computer Vision;
- Image Processing;
- Optical Tracking;
- Stereotelevision;
- Algorithms;
- Iteration;
- Prediction Analysis Techniques;
- Television Cameras;
- Instrumentation and Photography