NDLI: Active Stereo Tracking of <formula formulatype=inline><tex Notation=TeX>$Nle 3$</tex></formula> Targets Using Line Scan Cameras

Content Provider	IEEE Xplore Digital Library
Author	Barreto, J.P. Perdigoto, L. Caseiro, R. Araujo, H.
Copyright Year	2004
Abstract	This paper presents a general approach for the simultaneous tracking of multiple moving targets using a generic active stereo setup. The problem is formulated on the plane, where cameras are modeled as “line scan cameras,” and targets are described as points with unconstrained motion. We propose to control the active system parameters in such a manner that the images of the targets in the two views are related by a homography. This homography is specified during the design stage and, thus, can be used to implicitly encode the desired tracking behavior. Such formulation leads to an elegant geometric framework that enables a systematic and thorough analysis of the problem at hand. The benefits of the approach are illustrated by applying the framework to two distinct stereo configurations. In the first case, we assume two pan-tilt-zoom cameras, with rotation and zoom control, which are arbitrarily placed in the working environment. It is proved that such a stereo setup can track up to N = 3 free-moving targets, while assuring that the image location of each target is the same for both views. The second example considers a robot head with neck pan motion and independent eye rotation. For this case, it is shown that it is not possible to track more than N = 2 targets because of the lack of zoom. The theoretical framework is used to derive the control equations, and the implementation of the tracking behavior is described in detail. The correctness of the results is confirmed through simulations and real tracking experiments.
Sponsorship	IEEE Robotics and Automation Society
Starting Page	442
Ending Page	457
Page Count	16
File Size	945929
File Format	PDF
ISSN	15523098
Volume Number	26
Issue Number	3
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-06-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cameras Target tracking Stereo vision Robot vision systems Head Computer vision Control systems Neck Equations Computational modeling visual tracking Active vision computer vision stereo visual servoing
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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