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Real-Time Tracking of Moving Objects with an Active Camera |
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pp. 3-20 (doi:10.1006/rtim.1996.0060) |
K.
Daniilidis*, C. Krauss*,
M. Hansen*, G. Sommer*
*Computer Science Institute, Christian-Albrechts University Kiel, Preusserstr. 1-9, 24105, Kiel, Germany, E-mail: kd@informatik.uni-kiel.de |
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This 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, substraction 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. Copyright 1998 Academic Press Limited |
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