Image-based visual tracking for moving targets with active stereo vision robot
Image-based visual tracking for moving targets with active stereo vision robot
复制标题
基于图像的主动立体视觉机器人运动目标视觉跟踪
DOI：
10.1109/sice.2006.315320
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发表时间：
2006
期刊：
影响因子：
--
通讯作者：
Nobuaki Kobayashi2
中科院分区：
文献类型：
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作者：
Masaaki Shibatal;Nobuaki Kobayashi2
提出了一种无需摄像机标定的运动目标视觉跟踪方法。主动立体视觉机器人采用基于图像的视觉跟踪方法跟踪运动目标。在摄像机坐标系中估计目标在三维工作空间中的运动速度，该估计有助于抑制跟踪延迟，使视觉跟踪无稳态误差。跟踪延迟被完全抑制，小于10 [pixel]，然后在所提出的方法中从理论和实验上消除了摄像机校准。物理实验结果证实了该方法的有效性
The paper proposes a novel method of visual tracking for moving object without camera calibration. An active stereo vision robot tracks a moving target with image-based visual tracking. The target velocity in the 3D workspace is estimated in the camera coordinate frame, and the estimation contributes to the suppression of tracking delay, so that no steady-state error is achieved in visual tracking. The tracking delay is fully suppressed, less than 10 [pixel], and then the camera calibration is theoretically and experimentally eliminated in the proposed method. The validity of the proposed approach is confirmed in the physical experimental results