Real-time motion tracking by using spatial reticles inhomogeneously distributed according to the spatially variant distribution of receptive fields of visual peripheral nerves.

根据视觉周围神经感受野的空间变化分布，使用不均匀分布的空间标线进行实时运动跟踪。

• 批准号: 16500102
• 负责人: MITSUHASHI Wataru
• 金额: $ 2.11万
• 依托单位: The University of Electro-Communications
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2004
• 资助国家: 日本
• 起止时间: 2004 至 2005
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-16500102/
• 关键词: Real-time visual tracking; Spatial filter velocimetry; Radon transform; Kalman filter; Monocular camera; Following distance control; Motion parameter estimation; 空間フィルタ速度推定法; 空間レティクル; 衝突予防; Kalmanフィルタ; ビジュアルサーボ

A visual tracking system with real time operation for maintaining both the size and the position of the image of a moving object has been developed. In the system, a spatially variant scheme of sensor distribution is adopted for providing an effective means of analyzing global motion parameters of object motions. To achieve this, a bank of Gabor reticles was constituted in the 1st project year by mimicking the organization of the receptive field of visual peripheral nerves. The individual reticle works as a velocity sensor, and thus yielding a velocity vector field on the image plane.Velocity sensing generally requires a wide field of view for averaging image motion, and the limited size of each reticle causes degradation in velocity estimation. The Radon transform of image motion yields a solution to this problem because of its integral feature of projection. Both translation and dilation components included in image motion can be isolated, identified and measured by evaluating the optical flow on the Radon domain.Applying the Radon transform to the dynamic scene of a moving object enables us to visually track the object with a monocular camera system. A Kalman filter is also introduced to smoothly predict the position of the object and improve the delay characteristics, thereby reducing the error of localization. The proposed system is composed of only a commercially available PC, and exhibits good tracking performances with processing rate of full video frames.

已经开发出一种实时操作的视觉跟踪系统，用于保持移动物体图像的大小和位置。该系统采用了传感器分布的空间变化方案，为分析物体运动的全局运动参数提供了有效的手段。为了实现这一目标，在项目的第一年，通过模仿视觉周围神经感受野的组织，构建了一组 Gabor 标线。各个十字线用作速度传感器，从而在图像平面上产生速度矢量场。速度感测通常需要宽视场来平均图像运动，并且每个十字线的有限尺寸导致速度估计的退化。像运动的Radon变换因其投影的整体特性而解决了这个问题。通过评估 Radon 域上的光流，可以隔离、识别和测量图像运动中包含的平移和膨胀分量。将 Radon 变换应用于运动物体的动态场景使我们能够使用单目摄像系统视觉跟踪物体。还引入卡尔曼滤波器来平滑地预测物体的位置并改善延迟特性，从而减少定位误差。所提出的系统仅由商用PC组成，并且在全视频帧的处理速率下表现出良好的跟踪性能。

项目成果

A Novel Configuration of Spatial Reticles for Tracking 3D Motionby Using a Monocular Camera

使用单目相机跟踪 3D 运动的空间标线的新颖配置

• 发表时间: 2004
• 期刊: Proc.of the International Workshop on Modern Science and Technology 2004
• 作者: T.Onoda;H.Murata;S.amada;田中一弘;Yutaka Makino
• 通讯作者: Yutaka Makino

Equi-Distance Tracking of a Preceding Target by Using a Monocular Active Camera

使用单目主动相机等距跟踪前方目标

• 发表时间: 2004
• 期刊: Proceedings of the 21st Sensor Symposium
• 作者: Manabu Matsuyama;Toramatsu Shintani;Takayuki I to;Yusuke IIi raoka;Satoshi Wa tanabe;Yutaka Makino
• 通讯作者: Yutaka Makino

Equi-Distance Tracking of a Preceding Target by Using a Monocular Acitive Camera

使用单目主动相机对前方目标进行等距跟踪

• 发表时间: 2004
• 期刊: Proceedings of the 21st Sensor Symposium
• 作者: T.Matsui;K.Tanabe;Katsuhiro Hirayama;Tomoki Kobayashi et al.;Yutaka Makino
• 通讯作者: Yutaka Makino

A Novel Configuration of Spatial Reticles for Tracking 3D Motion by Using a Monocular Camera

使用单目相机跟踪 3D 运动的空间标线的新颖配置

• 发表时间: 2004
• 期刊: Proceedings of the International Workshop on Modern Science and Technology
• 作者: Takafumi Yamaya;Toramatsu Shintani;Tadachika Ozono;Yusuke Hi raoka;Hi romi tsu Hattori;Takayuki I to;S.Dematapitiya;Yutaka Makino
• 通讯作者: Yutaka Makino