Moving target tracking and measurement with a binocular vision system

  • Authors:

  • T. W. Yang;K. Zhu;Q. Q. Ruan;J. D. Han

  • Affiliations:

  • Institute of Information Science, School of Computer and Information Technology, Beijing Jiaotong University, Beijing 100044, China.;Institute of Information Science, School of Computer and Information Technology, Beijing Jiaotong University, Beijing 100044, China.;Institute of Information Science, School of Computer and Information Technology, Beijing Jiaotong University, Beijing 100044, China.;The State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China

  • Venue:
  • International Journal of Computer Applications in Technology
  • Year:
  • 2010

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Abstract

Visual tracking and measurement is one of the most important tasks in computer vision and finds applications in traffic surveillance, vision-guided mobile robots, etc. In this paper, a binocular vision system is used to achieve the visual servoing, mimicking the movements of human eyes. First, a robust scheme, which combines adaptive Background Subtraction (BS) and Camshift algorithms, is proposed to detect and track a moving object. Then, we discuss the problems of camera parameter calibration and position measurement of moving objects. A new approach is introduced to realise the extrinsic parameter calibration of a pan-tilt camera, providing successful tracking and accurate measurement of a moving target, even as it is outside the view of the camera. Numerous experiments have been done on the binocular vision system of a humanoid mobile platform, and the results show that the proposed approaches work very well.