An Adaptive Tracking for Moving Target using Active Camera

1.主动式摄像机的搭建1995年，我们在已有的工作站上构建了变焦控制算法，并在PC机系统上进行了基础性实验。在我们构建的基础实验的主动摄像机系统中，摄像机的变焦控制算法和对CCD摄像机图像的处理都是由个人计算机执行的，不足以跟踪快速运动的目标。1996年，我们构造了新的主动摄像机，其中我们使用了图像处理器，从而提高了跟踪处理的速度，所有的图像处理都在视频帧速率(33ms)内完成。此外，图像处理和摄像机控制并行进行，加快了处理速度。在目标三维运动估计中的应用。1996年，我们构造了对两个或三个运动目标的跟踪算法。通过实验验证了主动摄像机系统适用于两人行走的场景。1997年，作为自动跟踪系统的应用，我们使用主动摄像机系统的运动立体方法来估计目标的三维运动。针对传统立体方法进行三维测量时，摄像机与目标之间的距离越大，视差值越小，测量精度越低的问题，在机械臂上设置了主动摄像系统。并根据运动立体原理计算出的目标到摄像机的距离，自适应地改变距离和焦距。实验结果表明，我们构建的主动摄像机工作时，目标与摄像机之间的距离变长，镜头焦距自适应变化，从而证实了测量精度不会降低。

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.