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Proceedings Paper

Visual tracking without feedback control
Author(s): M. Ali Taalebinezhaad; Denis Poussart
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Paper Abstract

A typical robot vision scenario might involve a vehicle moving with an unknown 3D motion (translation and rotation) while taking intensity images of an arbitrary environment. This paper describes the theory and implementation issues of constructing a sequence of tracked images in which a desired point in the environment is tracked using an image sequence with arbitrary motion. This method is performed fully in software without any need to mechanically move the camera relative to the vehicle. This tracking technique is simple and inexpensive. Furthermore, it does not use either optical flow or feature correspondence. Instead, the spatio- temporal gradients of the input intensity images are used directly. We have also introduced the gradient maps as an intuitive way of visually representing spatio-temporal brightness gradients. We used such gradient maps to qualitatively examine the quality of our constructed image sequence. The experimental results presented support the idea of tracking in software. The final result is a sequence of tracked images where the desired point is kept stationary in the images independent of the nature of the relative motion that occurred.

Paper Details

Date Published: 6 August 1993
PDF: 11 pages
Proc. SPIE 2056, Intelligent Robots and Computer Vision XII: Active Vision and 3D Methods, (6 August 1993); doi: 10.1117/12.150207
Show Author Affiliations
M. Ali Taalebinezhaad, Canadian Institute for Robotics and Intelligent Systems (United States)
Denis Poussart, Canadian Institute for Robotics and Intelligent Systems (United States)


Published in SPIE Proceedings Vol. 2056:
Intelligent Robots and Computer Vision XII: Active Vision and 3D Methods
David P. Casasent, Editor(s)

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