Analysis of camera behavior during tracking
Reddi, S.
Loizou, G.
Dept. of Comput. Sci., London Univ.;
This paper appears in: Pattern Analysis and Machine Intelligence, IEEE Transactions on
Publication Date: Aug 1995
Volume: 17,
Issue: 8
On page(s): 765-778
ISSN: 0162-8828
References Cited: 28
CODEN: ITPIDJ
INSPEC Accession Number: 5024398
Digital Object Identifier: 10.1109/34.400566
Current Version Published: 2002-08-06
Abstract
A camera is mounted on a moving robot and can rotate, relative to
the robot, about two axes. We show how the optical flow field can be
used to control the camera's motion to keep a target at the center of
the camera's field of view, but that this is not always possible when
the target lies close to the plane defined by the camera's two axes of
rotation. When the target is held at the center of the camera's field of
view, then the magnitude of the camera's angular velocity about one axis
never exceeds the magnitude of the flow vector associated with the
target, but the angular velocity about the other axis is dependent on
the inverse distance of the target from this axis, and hence can become
large as this distance becomes small. Situations, where the magnitudes
of the camera's angular velocity and acceleration become large, are
considered in the special case where the relative motion between the
robot and its environment is purely translational. The tracking strategy
is experimentally evaluated using computer-generated optical flow fields
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