PT Unknown AU Daniilidis, K Krauss, C Sommer, G Hansen, M TI Real Time Tracking of Moving Objects with an Active Camera SE Bericht des Instituts für Informatik PY 1992 VL 9509 PU Institut für Informatik WP https://macau.uni-kiel.de/receive/macau_mods_00001944 LA en SN 2192-6247 AB 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. PI Kiel ER