@Misc{macau_mods_00001944, author = {Daniilidis, Kostas and Krauss, Christian and Sommer, Gerald and Hansen, Michael}, title = {Real Time Tracking of Moving Objects with an Active Camera}, year = {1992}, publisher = {Institut f{\"u}r Informatik}, address = {Kiel}, volume = {9509}, abstract = {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.}, issn = {2192-6247}, url = {https://macau.uni-kiel.de/receive/macau_mods_00001944}, file = {:https://macau.uni-kiel.de/servlets/MCRFileNodeServlet/macau_derivate_00002877/1995_tr09.pdf:PDF}, language = {en} }