한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제22권9호
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  • Pages.77-84
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  • 2005
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

Pan/Tilt스테레오 카메라를 이용한 이동 물체의 강건한 시각추적

Robust 3D visual tracking for moving object using pan/tilt stereo cameras

  • 조지승 (대구기계부품연구원) ;
  • 정병묵 (영남대학교 기계공학과) ;
  • 최인수 (상주대학교 자동차공학과) ;
  • 노상현 (대구공업대학교 자동차과) ;
  • 임윤규 (울산발전진흥재단 전략발전기획단)
  • 발행 : 2005.09.01
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초록

In most vision applications, we are frequently confronted with determining the position of object continuously. Generally, intertwined processes ire needed for target tracking, composed with tracking and control process. Each of these processes can be studied independently. In case of actual implementation we must consider the interaction between them to achieve robust performance. In this paper, the robust real time visual tracking in complex background is considered. A common approach to increase robustness of a tracking system is to use known geometric models (CAD model etc.) or to attach the marker. In case an object has arbitrary shape or it is difficult to attach the marker to object, we present a method to track the target easily as we set up the color and shape for a part of object previously. Robust detection can be achieved by integrating voting-based visual cues. Kalman filter is used to estimate the motion of moving object in 3D space, and this algorithm is tested in a pan/tilt robot system. Experimental results show that fusion of cues and motion estimation in a tracking system has a robust performance.

키워드

참고문헌

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