Pyramid-based estimation of 2-D motion for object tracking
Pyramid-based estimation of 2-D motion for object tracking
复制标题
用于对象跟踪的基于金字塔的二维运动估计
DOI：
10.1109/iros.1990.262484
复制
发表时间：
1990
期刊：
影响因子：
--
通讯作者：
S. Maeng
中科院分区：
文献类型：
--
作者：
K. Wohn;S. Maeng
提出了一种能够实时估计运动目标像移的算法。该方法是基于图像相关技术应用于多分辨率图像的两个连续帧。与以往的亮度相关性方法不同，该方法通过仅沿亮度梯度方向沿着建立相关性来估计法向运动矢量。这种方法可以避免由于多次匹配而经常出现的困难。正常的流矢量被用来估计实际的流矢量（称为全流矢量），假设2-D运动的对象和背景是恒定的。这整个过程在图像序列的几个空间分辨率上统一操作。每个分辨率被调谐到图像运动的特定范围，并且通过比较在全流估计过程中累积的估计误差来确定正确的分辨率。该算法已实现了现成的视觉硬件，作为一个子系统的实时视觉跟踪。<<ETX>>
An algorithm capable of estimating the image motion of a moving object in real-time is presented. The method is based on the image correlation technique applied to the multi-resolution image of two successive frames. Unlike previous approaches on the intensity correlation, the method estimates the normal motion vector by establishing the correlation along the direction of intensity gradient only. This approach allows one to avoid difficulties often arise due to the multiple matching. Normal flow vectors are used to estimate the actual flow vector (called the full flow vector) by assuming that 2-D motions of the object and the background are constant. This entire process operates uniformly on several spatial resolutions of image sequence. Each resolution is tuned to a specific range of image motion, and the correct resolution is determined by comparing the estimation error which has been accumulated in the course of full flow estimation. The algorithm has been implemented on off-the-shelf vision hardware, as a subsystem for real-time visual tracking.<<ETX>>