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Closing the loop: Pursuing a moving object by a moving observer

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Computer Analysis of Images and Patterns (CAIP 1995)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 970))

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Abstract

We present an integrated system, able to pursue a moving object by controlling a robot-head to maintain the moving object centered in the image. This system runs continuously in time and updates the object localization at a frame-rate of 25 Hz. The moving object can be tracked although the observer performs an unknown independent motion, involving both translation and rotation. We focus on a simple algorithm, since computational cost is of major importance for real-time systems with feedback. The algorithm is noniterative and computationally cheap. The running time complexity is \(\mathcal{O}(n)\) for an image containing n pixels.

This work was performed in ESPRIT-BRA 7108 (VAP-II), and was funded by the Swedish National Board for Industrial and Technical Development, NUTEK.

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Authors and Affiliations

  1. Computational Vision and Active Perception Laboratory (CVAP) Department of Numerical Analysis and Computing Science, Royal Institute of Technology, S-100 44, Stockholm, Sweden

    Peter Nordlund & Tomas Uhlin

Authors
  1. Peter Nordlund
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  2. Tomas Uhlin
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Václav Hlaváč Radim Šára

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© 1995 Springer-Verlag Berlin Heidelberg

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Nordlund, P., Uhlin, T. (1995). Closing the loop: Pursuing a moving object by a moving observer. In: Hlaváč, V., Šára, R. (eds) Computer Analysis of Images and Patterns. CAIP 1995. Lecture Notes in Computer Science, vol 970. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-60268-2_322

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  • DOI: https://doi.org/10.1007/3-540-60268-2_322

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-60268-2

  • Online ISBN: 978-3-540-44781-8

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