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Visual tracking in stereoA method is described for visual object tracking by a computer vision system using TV cameras and special low-level image processing hardware. The tracker maintains an internal model of the location, orientation, and velocity of the object in three-dimensional space. This model is used to predict where features of the object will lie on the two-dimensional images produced by stereo TV cameras. The differences in the locations of features in the two-dimensional images as predicted by the internal model and as actually seen create an error signal in the two-dimensional representation. This is multiplied by a generalized inverse Jacobian matrix to deduce the error in the internal model. The procedure repeats to update the internal model of the object's location, orientation and velocity continuously.
Document ID
19820029564
Acquisition Source
Legacy CDMS
Document Type
Conference Proceedings
Authors
Saund, E.
(California Institute of Technology, Jet Propulsion Laboratory, Pasadena CA, United States)
Date Acquired
August 10, 2013
Publication Date
January 1, 1981
Subject Category
Instrumentation And Photography
Meeting Information
Meeting: In: Joint Automatic Control Conference
Location: Charlottesville, VA
Start Date: June 17, 1981
End Date: June 19, 1981
Accession Number
82A13099
Distribution Limits
Public
Copyright
Other

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