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