Foveated active tracking with redundant 2D motion parameters

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• 作者：Bernardino ; Alexandre ; Santos-Victor ; José ; Sandini ; Giulio
• 关键词：Visual tracking ; Motion estimation ; Space-variant imaging ; Active vision
• 刊名：Robotics and Autonomous Systems
• 出版年：2002
• 出版时间：June 30, 2002
• 年：2002
• 卷：39
• 期：3-4
• 页码：205-221
• 全文大小：629 K

文摘

This work presents a real-time active vision tracking system based on log-polar image motion estimation with 2D geometric deformation models. We present a very efficient parametric motion estimation method, where most computation can be done offline. We propose a redundant parameterization for the geometric deformations, which improve the convergence range of the algorithm. A foveated image representation provides extra computational savings and attenuation of background effects. A proper choice of motion models and a hierarchical organization of the iterations provide additional robustness. We present a fully integrated system with real-time performance and robustness to moderate deviations from the assumed deformation models.