An Adaptive Tracking for Moving Target using Active Camera

点击翻译按钮获取中文摘要

1. Construction of the Active CameraIn 1995, we construct the zoom control algorithms on the work station which we have had, and fundamental experiments based on personal computer system is done. At the active camera system which we construct for fundamental experiments, the camera zooming control algorithms and processing of the image of CCD camera are executed by personal computer, then it was not sufficient to track the target which moves rapidly.In 1996, we construct new active camera, in which we used image processor, so that the speed of tracking process is increased and all of the image processing are completed in video frame rate (33msec). Moreover image processing and camera control are done parallel to speed up for process.2. Application for estimation of 3 dimensionla moving of target.In 1996, we construct the tracking algorithm for two or three moving targets. From the experiments, it is confirmed that the active camera system is applicable for the scene in which two persons are walking.In 1997, as the application of the automated tracking system, we use the active camera system for motion stereo method to estimate the 3 dimensional moving of target. At the 3 dimensional measurement by the traditional stero method, it has the problem that if the distance between camera and target becomes longer the disparity value becomes smaller, so that the accuracy of measurement is low.So we set active camera system on the robot arm. And according to the distance between target and camera which is calculated by motion stereo principle, the system changes the distance and focal length adaptive. The results of experiments show that active camera which we constructed, works as if the distance between target and camera becomes longer, the focus length of the lens is changed adaptive, then it is confirmed that the accuracy of measurement does not become low.