Paper Info
Title
Adaptive image feature prediction and control for visual tracking with a hand-eye coordinated camera
Abstract
An adaptive method for visually tracking a known moving object with a single mobile camera is described. The method differs from previous methods of motion estimation in that both the camera and the object are moving. The objective is to predict the location of features of the object on the image plane based on past observations and past control inputs and then to determine an optimal control input that will move the camera so that the image features align with their desired positions. A resolved motion rate control structure is used to control the relative position and orientation between the camera and the object. A geometric model of the camera is used to determine the linear differential transformation from image features to camera position and orientation. To adjust for modeling errors and system nonlinearities, a self-tuning adaptive controller is used to update the transformation and compute the optimal control. Computer simulations were conducted to verify the performance of the adaptive feature prediction and control
Year
DOI
Venue
1990
10.1109/21.59979
Systems, Man and Cybernetics, IEEE Transactions  
Keywords
Field
DocType
adaptive control,computer vision,optimal control,pattern recognition,position control,self-adjusting systems,tracking systems,adaptive image feature prediction,computer vision,geometric model,mobile camera,motion rate control,optimal control,position control,self-tuning adaptive controller,visual tracking
Computer vision,Motion field,Computer science,Control theory,Camera auto-calibration,Camera resectioning,Artificial intelligence,Adaptive control,Camera matrix,Motion estimation,Match moving,Pinhole camera model
Journal
Volume
Issue
ISSN
20
5
0018-9472
Citations 
PageRank 
References 
59
10.72
8
Authors
2
Name
Order
Citations
PageRank
Feddema, J.T.1391107.65
Lee, C.S.G.2639114.68