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Active stereo tracking of multiple free-moving targets

2009-06Conference paper Open access
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dc.contributor.authorPerdigoto, Luis
dc.contributor.authorBarreto, João P.
dc.contributor.authorCaseiro, Rui
dc.contributor.authorAraujo, Helder
dc.contributor.authorPerdigoto, Luis
dc.contributor.editor
dc.date.accessioned2025-04-14T15:36:06Z
dc.date.available2025-04-14T15:36:06Z
dc.date.issued2009-06
dc.descriptionOutras palavras-chave: Control systems , Equations , Visual system.
dc.description.abstractThis 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.eng
dc.description.sponsorshipThe authors acknowledge the support of project POP (Perception on Purpose), project FP6-IST-2004-027268, funded by the European Union. Luis Perdigoto acknowledges the support of the Portuguese Science Foundation through grant SFRH/BD/39096/2007. Joao Barreto is grateful to the Portuguese Science Foundation by generous funding through grant PTDC/EEA-ACR/68887/2006.
dc.identifier.citationPerdigoto, 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.
dc.identifier.doi10.1109/cvprw.2009.5206708
dc.identifier.issn1063-6919
dc.identifier.urihttp://hdl.handle.net/10400.8/12796
dc.language.isoeng
dc.peerreviewedyes
dc.publisherIEEE
dc.relationFP6-IST-2004-027268
dc.relationSFRH/BD/39096/2007
dc.relationPTDC/EEA-ACR/68887/2006
dc.relation.hasversionhttps://ieeexplore.ieee.org/document/5206708/citations#citations
dc.relation.ispartof2009 IEEE Conference on Computer Vision and Pattern Recognition
dc.rights.uriN/A
dc.subjectTarget tracking
dc.subjectCameras
dc.subjectRobot vision systems
dc.subjectHead
dc.subjectOptical feedback
dc.subjectOptical sensors
dc.subjectFocusing
dc.titleActive stereo tracking of multiple free-moving targetseng
dc.typeconference paper
dspace.entity.typePublication
oaire.citation.conferenceDate2009-06
oaire.citation.conferencePlaceMiami, FL, USA
oaire.citation.titleIEEE Conference on Computer Vision and Pattern Recognition, CVPR 2009
oaire.versionhttp://purl.org/coar/version/c_ab4af688f83e57aa
person.familyNamePerdigoto
person.givenNameLuis
person.identifier.orcid0000-0002-2626-3154
relation.isAuthorOfPublication21974cb3-96e9-4071-bbd1-149f86160821
relation.isAuthorOfPublication.latestForDiscovery21974cb3-96e9-4071-bbd1-149f86160821

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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.
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