Title :
A motion tracking by extracting 3D feature of moving objects with binocular cooperative fixation
Author :
Satoh, Yoshinori ; Nakagawa, Tomohiro ; Okatani, Takayuki ; Deguchi, Koichiro
Author_Institution :
Graduate Sch. of Inf. Sci., Tohoku Univ., Sendai, Japan
Abstract :
We propose a binocular motion tracking system by reconstructing the 3D shape of moving objects. This system has a pair of active cameras mounted on the robot arm. The 3D shape is an important feature to track a moving object. To track the moving object, the cameras fixate a point on the object and reconstruct the 3D shape of the object around the fixation point of the two images with the principle of spatio-temporal differentiation analysis. The 3D shape is fed back for the control of the active cameras and the robot arm for motion tracking. The system realizes an accurate and stable tracking of the moving object.
Keywords :
active vision; feature extraction; image matching; image reconstruction; motion estimation; robot vision; stereo image processing; 3D shape reconstruction; binocular cooperative fixation; binocular motion tracking system; block matching; feature extraction; fixation point; moving object tracking; spatiotemporal differentiation analysis; stereo active cameras; Cameras; Data mining; Eyes; Feature extraction; Humans; Image analysis; Image reconstruction; Robot vision systems; Shape control; Tracking;
Conference_Titel :
Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7398-7
DOI :
10.1109/IRDS.2002.1041354
