An Object Tracking Algorithm Based on Projective Invariants
An object tracking algorithm based on Planar Projective Invariants is proposed in this paper. In the algorithm, the invariants for object modelling and tracking are calculated with the lines extracted from images. In order to obtain the line edges in images, all edges are thinned to be one pixel wide at first by an improved Sequential Thinning algorithm. Then a fast computing method is used to estimate the curvatures of the edges, and the edge points at which the curvatures are less than some threshold are collected for line fittings. Lines are selected by a neighbour-rule or window-rule to compute the invariants. The experiments show that the preprocessing algorithm proposed in this paper works quite well in extracting lines from images. The invariants calculated with those lines are very stable from different viewpoints, and the tracking algorithm is robust and suitable for practical use.
Projective invariant object tracking visual servoing.
Shuqi MEI Wei ZOU Huaixiang ZHANG Kui YUAN
Institute of Automation Chinese Academy of Sciences Beijing, China
国际会议
2006 IEEE International Conference on Information Acquisition
山东威海
英文
337-342
2006-08-20（万方平台首次上网日期，不代表论文的发表时间）