Real-Time Tracking of Moving Objects with an Active Camera

✍ Scribed by K. Daniilidis; C. Krauss; M. Hansen; G. Sommer

• Publisher: Elsevier Science
• Year: 1998
• Tongue: English
• Weight: 814 KB
• Volume: 4
• Category: Article
• ISSN: 1077-2014
• DOI: 10.1006/rtim.1996.0060

✦ Synopsis

Real-Time Tracking of Moving Objects with an Active Camera

T his 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.