NDLI: Efficient tracking of a moving object using optimal representative blocks

Content Provider	IEEE Xplore Digital Library
Author	WanCheol Kim SangJoo Kim JangMyung Lee
Copyright Year	2003
Description	Author affiliation: Intelligent Robot Lab., Pusan Nat. Univ., South Korea (WanCheol Kim; SangJoo Kim; JangMyung Lee)
Abstract	In this paper, efficient tracking of a moving object using optimal representative blocks is implemented for a mobile robot with a pan-tilt camera. The key idea comes from the fact that when the image size of moving object is shrunk in an image frame according to the distance between the camera of mobile robot and the moving object, the tracking performance of a moving object can be improved by changing the size of representative blocks according to the object image size. Motion estimation using Edge Detection (ED) and Block-Matching Algorithm (BMA) is often used in the case of moving object tracking by vision sensors. However these methods often miss the real-time vision data since these schemes suffer from the heavy computational load. In this paper, the optimal representative block that can reduce a lot of data to be computed, is defined and optimized by changing the size of representative block according to the size of object in the image frame to improve the tracking performance. The proposed algorithm is verified experimentally by using a two degree-of-freedom active camera mounted on a mobile robot.
Sponsorship	IEEE Ind. Electron. Soc.(IES) IEEE Robotics & Autom. Soc. (RAS) ASME Dynamic Syst. & Control Div. (DSC)
Starting Page	1417
Ending Page	1422
File Size	500154
Page Count	6
File Format	PDF
ISBN	0780377591
DOI	10.1109/AIM.2003.1225551
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-07-20
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Robot vision systems Cameras Intelligent robots Motion estimation Intelligent sensors Image edge detection Humans Defense industry Military computing
Content Type	Text
Resource Type	Article

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