Real-time motion tracking of three-dimensional objectsThe problem in which the three-dimensional motion of an object corresponding to a known polyhedral model is to be computed using only the motion of edge features in a continuous stream of two-dimensional images is considered. Advantage is taken of the spatiotemporal density of the input signal and the limitations of long-range trajectory-prediction methods are avoided. Two parallel algorithms which use feature-based, short-range (spatiotemporally local) motion processes to achieve real-time tracking of modeled objects are presented. Both algorithms have been implemented and tested on a tightly coupled multiprocessor system consisting of an Aspex Pipe for low-level, image-feature computations and a Sequent Symmetry for high-level, model-based computations. An analysis is given of the actual performance limits of each method using the current hardware configuration.
Document ID
19910050629
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Verghese, Gilbert (Toronto, University Canada)
Gale, Karey Lynch (Toronto Univ. Ontario Canada)
Dyer, Charles R. (Wisconsin, University Madison, United States)