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Active stereo tracking of N ≤ 3 targets using line scan cameras

2010-06-09Journal article Restricted access
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datacite.subject.fosEngenharia e Tecnologia::Engenharia Eletrotécnica, Eletrónica e Informática
datacite.subject.fosCiências Naturais::Ciências da Computação e da Informação
datacite.subject.sdg09:Indústria, Inovação e Infraestruturas
datacite.subject.sdg11:Cidades e Comunidades Sustentáveis
dc.contributor.authorBarreto, Joao P.
dc.contributor.authorPerdigoto, Luis
dc.contributor.authorCaseiro, Rui
dc.contributor.authorAraujo, Helder
dc.date.accessioned2025-12-12T15:37:30Z
dc.date.available2025-12-12T15:37:30Z
dc.date.issued2010-06-09
dc.description.abstractThis paper presents a general approach for the simultaneous tracking of multiple moving targets using a generic active stereo setup. 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 a homography. This homography is specified during the design stage and, thus, can be used to implicitly encode the desired tracking behavior. Such formulation leads to an elegant geometric framework that enables a systematic and thorough analysis of the problem at hand. The benefits of the approach are illustrated by applying the framework to two distinct stereo configurations. In the first case, we assume two pan-tilt-zoom cameras, with rotation and zoom control, which are arbitrarily placed in the working environment. It is proved that such a stereo setup can track up to N = 3 free-moving targets, while assuring that the image location of each target is the same for both views. The second example considers a robot head with neck pan motion and independent eye rotation. For this case, it is shown that it is not possible to track more than N=2 targets because of the lack of zoom. The theoretical framework is used to derive the control equations, and the implementation of the tracking behavior is described in detail. The correctness of the results is confirmed through simulations and real tracking experiments.eng
dc.description.sponsorshipThe work of J. P. Barreto, H. Araujo, and L. Perdigoto was supported by the Portuguese Science Foundation through Grants PTDC/EEAACR/ 68887/2006 and SFRH/BD/50281/2009. This work was also supported by the project Perception on Purpose (POP), funded by the European Union under the reference FP6-IST-2004-027268. Parts of the work were presented at the IEEE International Conference on Computer Vision and Pattern Recognition, Miami, FL, June 2009.
dc.identifier.citationJ. P. Barreto, L. Perdigoto, R. Caseiro and H. Araujo, "Active Stereo Tracking of N≤3 Targets Using Line Scan Cameras," in IEEE Transactions on Robotics, vol. 26, no. 3, pp. 442-457, June 2010, doi: https://doi.org/10.1109/TRO.2010.2047300.
dc.identifier.doi10.1109/tro.2010.2047300
dc.identifier.eissn1941-0468
dc.identifier.issn1552-3098
dc.identifier.urihttp://hdl.handle.net/10400.8/15018
dc.language.isoeng
dc.peerreviewedyes
dc.publisherIEEE Canada
dc.relation.hasversionhttps://ieeexplore.ieee.org/document/5454296
dc.relation.ispartofIEEE Transactions on Robotics
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/
dc.subjectActive vision
dc.subjectcomputer vision
dc.subjectstereo
dc.subjectvisual servoing
dc.subjectvisual tracking
dc.titleActive stereo tracking of N ≤ 3 targets using line scan cameraseng
dc.typejournal article
dspace.entity.typePublication
oaire.citation.endPage457
oaire.citation.issue3
oaire.citation.startPage442
oaire.citation.titleIEEE Transactions on Robotics
oaire.citation.volume26
oaire.versionhttp://purl.org/coar/version/c_970fb48d4fbd8a85
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 paper presents a general approach for the simultaneous tracking of multiple moving targets using a generic active stereo setup. 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 a homography. This homography is specified during the design stage and, thus, can be used to implicitly encode the desired tracking behavior. Such formulation leads to an elegant geometric framework that enables a systematic and thorough analysis of the problem at hand. The benefits of the approach are illustrated by applying the framework to two distinct stereo configurations. In the first case, we assume two pan-tilt-zoom cameras, with rotation and zoom control, which are arbitrarily placed in the working environment. It is proved that such a stereo setup can track up to N = 3 free-moving targets, while assuring that the image location of each target is the same for both views. The second example considers a robot head with neck pan motion and independent eye rotation. For this case, it is shown that it is not possible to track more than N=2 targets because of the lack of zoom. The theoretical framework is used to derive the control equations, and the implementation of the tracking behavior is described in detail. The correctness of the results is confirmed through simulations and real tracking experiments.
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