Von: Zentralbibliothek [bibliothek@gmd.de]
Gesendet: Freitag, 29. September 2000 09:28
An: deutscher@wotan.cs.uni-magdeburg.de
Betreff: rtim.1996.0060
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Real-Time Imaging
Vol. 4, No. 1, February 1998
ISSN: 1077-2014
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Table of Contents   •   Article(PDF)


Real-Time Tracking of Moving Objects with an Active Camera
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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Abstract

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


Table of Contents   •   Article(PDF)


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