Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
Obstacle avoidance and navigation in the real world by a seeing robot rover
Obstacle avoidance and navigation in the real world by a seeing robot rover
Fido: vision and navigation for a robot rover
Fido: vision and navigation for a robot rover
An iterative image registration technique with an application to stereo vision
IJCAI'81 Proceedings of the 7th international joint conference on Artificial intelligence - Volume 2
IJCAI'81 Proceedings of the 7th international joint conference on Artificial intelligence - Volume 2
Conditional filters for image sequence-based tracking - application to point tracking
IEEE Transactions on Image Processing
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Target tracking based restrictively on acoustic and electromagnetic (EM) sensors may not provide adequate information regarding the mobile target. Hence, imaging sensors can be used to provide visual information. This paper develops an image-based tracking approach based on epipolar geometry and Kalman filtering. A corner detection technique is used to identify the prominent features in the frame sequence. By applying epipolar transforms, the trajectory of the target can be reconstructed along the image sequence. A recursive Kalman filter is then developed to enhance the robustness of the approach with regard to noise. Experimental results show that the proposed approach outperforms the existing image-based tracking approaches, especially for multi-target tracking.