Real-time motion tracking by using spatial reticles inhomogeneously distributed according to the spatially variant distribution of receptive fields of visual peripheral nerves.

开发了一种实时操作的视觉跟踪系统，用于保持运动物体图像的大小和位置。该系统采用传感器分布的空间变化方案，为分析物体运动的全局运动参数提供了有效手段。为了实现这一点，在项目的第一年，通过模仿视觉周围神经的感受野的组织，建立了一个Gabor线库。单独的网线作为一个速度传感器，并因此产生的图像平面上的速度矢量场。速度传感通常需要宽视场来平均图像运动，并且每个光栅的有限尺寸导致速度估计下降。像运动的Radon变换由于其整体的投影特性，为解决这一问题提供了一种方法。通过计算Radon域上的光流，可以分离、识别和测量像运动中的平移分量和膨胀分量。将Radon变换应用于动态场景的移动物体，使我们能够用单目相机系统直观地跟踪物体。引入卡尔曼滤波平滑预测目标位置，改善时延特性，减少定位误差。该系统仅由市售PC机组成，具有良好的跟踪性能和全视频帧的处理速率。

A visual tracking system with real time operation for maintaining both the size and the position of the image of a moving object has been developed. In the system, a spatially variant scheme of sensor distribution is adopted for providing an effective means of analyzing global motion parameters of object motions. To achieve this, a bank of Gabor reticles was constituted in the 1st project year by mimicking the organization of the receptive field of visual peripheral nerves. The individual reticle works as a velocity sensor, and thus yielding a velocity vector field on the image plane.Velocity sensing generally requires a wide field of view for averaging image motion, and the limited size of each reticle causes degradation in velocity estimation. The Radon transform of image motion yields a solution to this problem because of its integral feature of projection. Both translation and dilation components included in image motion can be isolated, identified and measured by evaluating the optical flow on the Radon domain.Applying the Radon transform to the dynamic scene of a moving object enables us to visually track the object with a monocular camera system. A Kalman filter is also introduced to smoothly predict the position of the object and improve the delay characteristics, thereby reducing the error of localization. The proposed system is composed of only a commercially available PC, and exhibits good tracking performances with processing rate of full video frames.