Closed form solutions to image flow equations for planar surfaces in motion
Computer Vision, Graphics, and Image Processing
Gaze controls cooperating through prediction
Image and Vision Computing - Special issue: 5th Alvey vision meeting
Driving saccade to pursuit using image motion
International Journal of Computer Vision
Active tracking of foveated feature clusters using affine structure
International Journal of Computer Vision
Exploiting image motion for active vision in a visual servoing framework
International Journal of Robotics Research
Motion Tracking with an Active Camera
IEEE Transactions on Pattern Analysis and Machine Intelligence
Compensation of abrupt motion changes in target tracking by visual servoing
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 1 - Volume 1
Theory of evidence for face detection and tracking
International Journal of Approximate Reasoning
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Efficient real-time robotic tasks using a monocular vision system were previously developed with simple objects (e.g. white points on a black background), within a visual servoing context. Due to recent developments, it is now possible to design real-time visual tasks exploiting motion information in the image, estimated by robust algorithms. This paper proposes such an approach to track complex objects, such as a pedestrian. It consists in integrating the measured 2D motion of the object to recover its 2D-position in the image. The principle of the tracking task is to control the camera pan and tilt such that the estimated center of the object appears at the center of the image. Real-time experimental results demonstrate the efficiency and the robustness of the method.