500-Fps Omnidirectional Visual Tracking Using Three-Axis Active Vision System
500-Fps Omnidirectional Visual Tracking Using Three-Axis Active Vision System
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DOI：
10.1109/tim.2021.3053971
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发表时间：
2021
影响因子：
5.6
通讯作者：
Mingjun Jiang;Ryo Sogabe;Kohei Shimasaki;Shaopeng Hu;T. Senoo;I. Ishii
中科院分区：
文献类型：
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作者：
Mingjun Jiang;Ryo Sogabe;Kohei Shimasaki;Shaopeng Hu;T. Senoo;I. Ishii
本研究提出一种具有500 fps影像处理的视觉追踪系统，可从高空间分辨率影像中侦测并追踪360度视野中快速移动且外观变化的目标。该系统由一个高速摄像机、一个云台电流镜系统和一个具有360度旋转能力的镜驱动高速摇摄控制系统组成。由于通过该系统获取目标物体的高空间分辨率图像，使用复杂的视觉特征对远程物体进行全方位视觉跟踪成为可能。我们介绍了一种智能高帧率（HFR）目标跟踪算法，可以同时检测和跟踪一个外观变化的目标对复杂的背景高速视觉反馈控制。此外，所提出的监视系统能够在低光条件下使用3-D光检测和测距（LiDAR）传感器系统和同时控制的主动聚光灯投影系统进行鲁棒的视觉跟踪。建议的全方位视觉跟踪系统的有效性进行了几个全方位的检测和跟踪实验的人几十米远，使用25 mm焦距的透镜在白天和夜间的条件下。
This study proposes a visual tracking system with 500-fps image processing that can detect and track a fast-moving appearance-varying target in a 360-degree-field of view (FOV) from high-spatial-resolution images. The system consists of a high-speed camera, a pan-tilt Galvano-mirror system, and a mirror-drive high-speed pan control system with 360-degree-rotational capacity. Omnidirectional visual tracking of a remote object using complex visual features becomes possible due to the acquisition of high-spatial-resolution images of the target object via the system. We introduce an intelligent high frame rate (HFR) target-tracking algorithm that can simultaneously detect and track an appearance-varying object against a complex background for high-speed visual feedback control. Furthermore, the proposed surveillance system enables robust visual tracking under low-light conditions using a 3-D light detection and ranging (LiDAR) sensor system and a simultaneously controlled active spotlight projection system. The effectiveness of the proposed omnidirectional visual tracking system was demonstrated by conducting several omnidirectional detecting and tracking experiments on persons dozens of meters away using a 25-mm focal length lens under both daytime and night-time conditions.