Browsing by Author "Perdigoto, Luis"
Now showing 1 - 2 of 2
Results Per Page
Sort Options
- Active stereo tracking of multiple free-moving targetsPublication . Perdigoto, Luis; Barreto, João P.; Caseiro, Rui; Araujo, Helder; Perdigoto, Luis;This article presents a general approach for the active stereo tracking of multiple moving targets. The problem is formulated on the plane, where cameras are modeled as ”line scan cameras” and targets are described as points with unconstrained motion. We propose to control the active system parameters in such a manner that the images of the targets in the two views are related by an homography. This homography is specified during the design stage and implicitly encodes the tracking behavior. It is shown that this formulation leads to an elegant geometric framework that enables to decide about the feasibility of a particular active tracking task. We apply it to prove that two cameras with rotation and zoom control, can track up to three moving targets, while assuring that the image location of each target is the same for both views. In addition, the framework is also useful for devising tracking strategies and deriving the required control equations. This feature is illustrated through a real experiment on tracking two independent targets using a binocular stereo head.
- Estimation of mirror shape and extrinsic parameters in axial non-central catadioptric systemsPublication . Perdigoto, Luis; Araujo, HelderWe propose a method to estimate the mirror shape and position, and the extrinsic parameters in axial noncentral catadioptric systems (i.e. systems with an axial symmetrical mirror and a pinhole camera with its optical center located at the mirror axis). Our method requires one or more images of a planar calibration pattern consisting of points and lines with known position (e.g. a checkerboard), and that the camera be internally calibrated. We also present an alternative algorithm for the particular case of catadioptric systems with spherical mirror, were the estimation is achieved by fitting quartic curves to the images of lines of the calibration pattern. An analytical solution is presented for every method. Each analytical solution is then refined by a non-linear optimization procedure. We present experimental results, on simulated and real images, that demonstrate the validity of our work.