Active stereo tracking of multiple free-moving targets

Perdigoto, Luis; Barreto, João P.; Caseiro, Rui; Araujo, Helder

http://hdl.handle.net/10400.8/12796

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Active stereo tracking of multiple free-moving targets.pdf	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.	1.37 MB	Adobe PDF	Download

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Abstract(s)

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.

Description

Outras palavras-chave: Control systems , Equations , Visual system.

Keywords

Target tracking Cameras Robot vision systems Head Optical feedback Optical sensors Focusing

URI

http://hdl.handle.net/10400.8/12796

Citation

Perdigoto, Luis; Barreto, J.P.; Caseiro, Rui and Araujo, Helder, "Active stereo tracking of multiple free-moving targets," 2009 IEEE Conference on Computer Vision and Pattern Recognition, Miami, FL, USA, 2009, pp. 1494-1501, doi: https://doi.org/10.1109/CVPR.2009.5206708.