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An Adaptive Tracking for Moving Target using Active Camera

使用主动相机的运动目标自适应跟踪

基本信息

批准号：
07650509
负责人：
OZAWA Shinji
金额：
$ 1.28万
依托单位：
Keio University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
1995
资助国家：
日本
起止时间：
1995 至 1996
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-07650509/
关键词：
Active Camera Moving Target Tracking Moving Picture Processing

项目摘要

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.

1. 1995年，我们在已有的工作站上构建了变焦控制算法，并在微机系统上进行了初步的实验。在我们为基础实验而构建的主动相机系统中，相机变焦控制算法和CCD相机图像处理都是由个人计算机来执行的，这样就不足以跟踪快速运动的目标。从而提高了跟踪处理的速度，并且所有的图像处理都以视频帧速率（33毫秒）完成。此外，图像处理和相机控制并行进行，以加快处理速度。2. 1996年，我们建立了两个或三个运动目标的跟踪算法。从实验中证实了主动摄像机系统适用于两人同时行走的场景，1997年，作为自动跟踪系统的应用，我们将主动摄像机系统用于运动立体方法来估计目标的三维运动。针对传统立体法三维测量中存在的摄像机与目标距离越大，视差值越小，测量精度越低的问题，在机器人手臂上设置主动摄像系统，根据运动立体原理计算出的目标与摄像机的距离，自适应地改变距离和焦距。实验结果表明，所构建的主动摄像机在工作过程中，当目标与摄像机之间的距离变长时，透镜的焦距自适应变化，测量精度不会降低。