000K utf8 1100 $c1995 1500 eng 2050 urn:nbn:de:gbv:8:1-zs-00000196-a7 3000 Daniilidis, Kostas 3010 Hansen, Michael 3010 Krauss, Christian 3010 Sommer, Gerald 4000 Real Time Tracking of Moving Objects with an Active Camera [Daniilidis, Kostas] 4209 This article is concerned with the design and implementation of a system for real time monocular tracking of a moving object using the two degrees of freedom of a camera platform. Figure-ground segregation is based on motion without making any a priori assumptions about the object form. Using only the first spatiotemporal image derivatives subtraction of the normal optical flow induced by camera motion yields the object image motion. Closed-loop control is achieved by combining a stationary Kalman estimator with an optimal Linear Quadratic Regulator. The implementation on a pipeline architecture enables a servo rate of 25 Hz. We study the effects of time-recursive filtering and fixed-point arithmetic in image processing and we test the performance of the control algorithm on controlled motion of objects. 4950 https://nbn-resolving.org/urn:nbn:de:gbv:8:1-zs-00000196-a7$xR$3Volltext$534 4961 https://macau.uni-kiel.de/receive/macau_mods_00001944 5051 004