NDLI: Velocity and disparity cues for robust real-time binocular tracking

Content Provider	IEEE Xplore Digital Library
Author	Rougeaux, S. Kuniyoshi, Y.
Copyright Year	1997
Description	Author affiliation: Humanoid Interaction Lab., Electrotech. Lab., Ibaraki, Japan (Rougeaux, S.)
Abstract	We have designed and implemented a real-time binocular tracking system which uses two independent cues commonly found in the primary functions of biological visual systems to robustly track moving targets in complex environments, without a-priori knowledge of the target shape or texture: a fast optical flow segmentation algorithm quickly locates independently moving objects for target acquisition and provides a reliable velocity estimate for smooth tracking. In parallel, target position is generated from the output of a zero-disparity filter where a phase-based disparity estimation technique allows dynamic control of the camera vergence do adapt the horopter geometry to the target location. The system takes advantage of the optical properties of our custom-designed foveated wide-angle lenses, which exhibit a wide field of view along with a high resolution fovea. Methods to cope with the distortions introduced by the space-variant resolution, and a robust real-time implementation on a high performance active vision head are presented.
Starting Page	1
Ending Page	6
File Size	670628
Page Count	6
File Format	PDF
ISBN	0818678224
ISSN	10636919
DOI	10.1109/CVPR.1997.609287
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-06-17
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robustness Target tracking Optical distortion Optical filters Biomedical optical imaging Optical design Algorithm design and analysis Real time systems Visual system Shape
Content Type	Text
Resource Type	Article
Subject	Computer Vision and Pattern Recognition Software

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