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Real-time object tracking from corners

Published online by Cambridge University Press:  01 January 1998

Han Wang ,
Choon Seng Chua  and
Ching Tong Sim
Han Wang
Affiliation:
School of Electrical and Electronic Engineering, Nanyang Technological University (Singapore) 639798, Singapore. E-mail: hw@ntuix.ntu.ac.sg
Choon Seng Chua
Affiliation:
School of Electrical and Electronic Engineering, Nanyang Technological University (Singapore) 639798, Singapore. E-mail: hw@ntuix.ntu.ac.sg
Ching Tong Sim
Affiliation:
School of Electrical and Electronic Engineering, Nanyang Technological University (Singapore) 639798, Singapore. E-mail: hw@ntuix.ntu.ac.sg
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Abstract

This paper reports a visual tracking system that can track moving objects in real-time with a modest workstation equipped with a pan-tilt device. The algorithm essentially has three parts: (1) feature detection, (2) tracking and (3) control of the robot head. Corners are viewpoint invariant, hence being utilised as the beacon for tracking. Tracking is performed in two stages of Kalman filtering and affine transformation. A technique of reducing greatly the computational time for the correlaton is also described. The Kalman filter predicts intelligently the fovea window and reduced computation dramatically. The affine transformation deals with the unexpected events when there is partial occlusion.

Keywords

Object trackingReal timeCorner detectionMachine vision
Type
Technical Report
Information
Robotica , Volume 16 , Issue 1 , January 1998 , pp. 109 - 116
Copyright
© 1998 Cambridge University Press

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