Full textReport1995UrhG

Real Time Tracking of Moving Objects with an Active Camera

This article is concerned with the design and implementation of a system for real time monocular tracking of a moving object using the two degrees of freedom of a camera platform. Figure-ground segregation is based on motion without making any a priori assumptions about the object form. Using only the first spatiotemporal image derivatives subtraction of the normal optical flow induced by camera motion yields the object image motion. Closed-loop control is achieved by combining a stationary Kalman estimator with an optimal Linear Quadratic Regulator. The implementation on a pipeline architecture enables a servo rate of 25 Hz. We study the effects of time-recursive filtering and fixed-point arithmetic in image processing and we test the performance of the control algorithm on controlled motion of objects.

Preview

Logo BII

BII

Cite

Citation style:
Could not load citation form.

Rights

Use and reproduction:No Creative Commons license - The provisions of the German Copyright Act (UrhG) apply.Please note that individual components of the publication may be subject to other licensing or copyright conditions.