Dynamic composition of tracking primitives for interactive vision-guided navigation

Darius Burschka; Gregory D. Hager

doi:10.1117/12.457436

18 February 2002 Dynamic composition of tracking primitives for interactive vision-guided navigation

Darius Burschka, Gregory D. Hager

Proceedings Volume 4573, Mobile Robots XVI; (2002) https://doi.org/10.1117/12.457436
Event: Intelligent Systems and Advanced Manufacturing, 2001, Boston, MA, United States

Abstract

We present a system architecture for robust target following with a mobile robot. The system is based on tracking multiple cues in binocular stereo images using the XVision toolkit. Fusion of complementary information in the images, including texture, color and depth, combined with a fast optimized processing reduces the possibility of loosing the tracked object in a dynamic scene with several moving targets on intersecting paths. The presented system is capable of detecting objects obstructing its way as well as gaps. It supports application in more cluttered terrain, where a wheel drive of mobile robot cannot take the same path as a walking person. We describe the basic principles of the fast feature extraction and tracking in the luminance, chrominance and disparity domain. The optimized tracking algorithms compensate for illumination variations and perspective distortions as already presented in our previous publications about the XVision system.

Citation Download Citation

Darius Burschka and Gregory D. Hager "Dynamic composition of tracking primitives for interactive vision-guided navigation", Proc. SPIE 4573, Mobile Robots XVI, (18 February 2002); https://doi.org/10.1117/12.457436

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available