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1 March 1992 Solutions for real-time visual tracking
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The purpose of this work has been to find solutions for reliable real-time monocular visual tracking. The goal is to estimate the relative motion of a camera with respect to a rigid 3-D scene by tracking features. In the beginning, the 3-D locations of the features are not known accurately, but during the tracking process these uncertainties are reduced through the integration of new observations. Most attention has been given to modeling measurement uncertainties and selecting the features to be extracted from image frames. The experimental system under implementation employs a bank of extended Kalman filtering based trackers each of which calculates estimates for location and motion using measurements of a few feature points at a time. The small number of points makes the trackers sensitive to various measurement errors, simplifying the detection of tracking failures, thereby giving potential for improving reliability. The preliminary experiments have been performed with satisfactory results for sequences of images at the rates of 22 to 35 frames per second.
© (1992) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Olli Silven and Tapio Repo "Solutions for real-time visual tracking", Proc. SPIE 1708, Applications of Artificial Intelligence X: Machine Vision and Robotics, (1 March 1992);

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