Closing the loop: detection and pursuit of a moving object by a moving observer

摘要: Abstract We present an integrated system which is able to pursue a moving object and maintain the centered in image by controlling robot-head. The contains three parts: independent motion detection, tracking, control of This paper focuses on detection mechanism, briefly discusses tracking issues. runs continuously time updates localization at frame-rate 25 Hz. can be tracked, although observer performs unknown motion, involving both translation rotation. focus simple algorithm, since computational cost major importance for real-time systems with feedback. algorithm noniterative computationally inexpensive. running complexity O ( n ) containing pixels. image-processing takes place MaxVideo 200 pipeline processor, head Transputer T800 network. Some offline experimental results are presented, where comparisons made between affine translational models.