Velocity and disparity cues for robust real-time binocular tracking
Velocity and disparity cues for robust real-time binocular tracking
复制标题
稳健的实时双目跟踪的速度和视差提示
DOI：
10.1109/cvpr.1997.609287
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发表时间：
1997
期刊：
影响因子：
--
通讯作者：
Y. Kuniyoshi
中科院分区：
文献类型：
--
作者：
S. Rougeaux;Y. Kuniyoshi
我们设计并实现了一种实时双目跟踪系统，该系统使用生物视觉系统主要功能中常见的两个独立线索来稳健地跟踪复杂环境中的移动目标，而无需先验了解目标形状或纹理：快速光流分割算法可以快速定位独立移动的目标以进行目标捕获，并为平滑跟踪提供可靠的速度估计。同时，目标位置是根据零视差滤波器的输出生成的，其中基于相位的视差估计技术允许动态控制相机聚散度，从而使双眼单视几何形状适应目标位置。该系统利用了我们定制设计的中心凹广角镜头的光学特性，该镜头具有宽视野和高分辨率的中心凹。提出了应对空间变化分辨率带来的失真的方法，以及高性能主动视觉头的鲁棒实时实现。
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.