Abstract
An active stereo-vision system enables a target object to be localized based on passing small disparities without heavy computation to identify the target. However, this simple method is not applicable to situations where a distracting background is included or the target and other objects are simultaneously located in the zero disparity area. Accordingly, to alleviate these problems, the current study combined filtering and foveation, which employs high resolution in the center of the visual field, while suppressing the periphery. An image pyramid and log-polar transformation are compared for the foveated image representation. The stereo disparity of the target is also extracted using projection to maintain a small stereo disparity during tracking. Experiments demonstrated that a log-polar transformation was superior to both the image pyramid and the traditional method for separating a target from a distracting background, and comparatively enhanced the tracking performance.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
Coombs, D.J.: Tracking Objects with Eye Movements. In: Proc. of the Topical Meeting on Image Understanding and Machine Vision, Optical Society of America (1989)
Ballard, D.H., Brown, C.M.: Principles of Animate Vision. CVGIP: Image Understanding 56(1), 3–21 (1992)
Coombs, D.J., Brown, C.M.: Real-Time Binocular Smooth Pursuit. International Journal of Computer Vision 11(2), 147–164 (1993)
Tanaka, M., Maru, N., Miyazaki, F.: Binocular Gaze Holding of a Moving Object with the Active Stereo Vision System. In: Proc. the 2nd IEEE Workshop on Applications of Computer Vision, Sarasota, Florida, USA, pp. 250–255 (1994)
Rougeaux, S., Kita, N., Kuniyoshi, Y., Sakane, S., Chavand, F.: Binocular Tracking Based on Virtual Horopters. In: IROS 1994, vol. 3, pp. 2052–2057 (1994)
Oshiro, N., Maru, N., Nishikawa, A., Miyazaki, F.: Binocular Tracking using Log Polar Mapping. In: IROS 1996, vol. 2, pp. 791–798 (1996)
Tistarelli, M., Sandini, G.: Dynamic Aspects in Active Vision. CVGIP: Image Unde standing 56(1), 108–129 (1992)
Messener, R.A., Szu, H.H.: An Image Processing Architecture for Real Time Generation of Scale and Rotation. Computer Vision, Graphics, and Image Processing 31, 50–66 (1985)
Bernardino, A., Santos-Victor, J.: Visual Behaviours for Binocular Tracking. In: 2nd Euro Micro Workshop on Advanced Mobile Robotics - Eurobot 1997, Brescia, Italy (1997)
Olson, T.J., Lockwood, R.J.: Fixation-based Filtering. In: Proc. of the SPIE Intelligent Robots and Computer Vision XI Conference, pp. 685–696 (1992)
Taylor, J.R., Olson, T.J.: Precise Vergence Control in Complex Scenes. In: Intelligent Robots and Computer Vision XII. SPIE, vol. 2056, pp. 20–30 (1993)
Olson, T.J., Coombs, D.J.: Real-Time Vergence Control for Binocular Robots. International Journal of Computer Vision 7(1), 67–89 (1991)
Maki, A., Uhlin, T.: Disparity Selection in Binocular Pursuit. Technical report, KTH (Royal Institute of Technology) (1995)
Okutomi, M., Kanade, T.: A Multiple-Baseline Stereo. IEEE Transactions on Pattern Analysis and Machine Intelligence 15(4), 353–363 (1993)
Bernardino, A., Santos-Victor, J.: A Binocular Stereo Algorithm for Log-polar Foveated Systems. In: Bülthoff, H.H., Lee, S.-W., Poggio, T.A., Wallraven, C. (eds.) BMCV 2002. LNCS, vol. 2525, pp. 127–136. Springer, Heidelberg (2002)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2003 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Choi, I., Yoon, JG., Lee, YB., Chien, SI. (2003). Stereo System for Tracking Moving Object Using Log-Polar Transformation and Zero Disparity Filtering. In: Petkov, N., Westenberg, M.A. (eds) Computer Analysis of Images and Patterns. CAIP 2003. Lecture Notes in Computer Science, vol 2756. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-45179-2_23
Download citation
DOI: https://doi.org/10.1007/978-3-540-45179-2_23
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-40730-0
Online ISBN: 978-3-540-45179-2
eBook Packages: Springer Book Archive