3D-objecttracking with a mixed omnidirectional stereo camera system

Lauer, Martin; Schönbein, Miriam; Lange, Sascha; Welker, Stefan

doi:10.1016/j.mechatronics.2010.05.007

Cited by 22 publications

(9 citation statements)

References 26 publications

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“…where: According to (3) and 4, we can solve the world coordinate of the spatial point Q . The linear camera model assumes there is no distortion of camera [11][12][13][14][15]. However, actually, there is more or less distortion of camera lenses.…”

Section: Figure 2 Binocular Stereo Vision Modlementioning

confidence: 99%

“…Compared with traditional detection methods, the video surveillance based detection methods are not only fast, but also their monitoring and detection range are wider. Presently, binocular vision systems have been well applied to three-dimensional (3D) measurement and robot vision [4][5][6] . However there are few studies on fire source detection based on binocular vision.…”

Section: Introductionmentioning

confidence: 99%

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Fire Location for High and Large-Span Space Buildings based on Binocular Stereo Vision

Lu¹,

Wang²,

Wang³

2016

IJSH

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To meet the demand for the early location of fire in large-span space buildings, an accurate fire location method is proposed based on machine vision technology. A nonlinear implicit camera calibration method is proposed by combining an improved particle swarm optimization (PSO) method with least squares support vector machine (LS-SVM) to solve the problem that it is difficult to establish accurate mathematical models for traditional nonlinear explicit camera calibration. The matched pixel coordinates of images collected by cameras are used as input, and the output is the world coordinates. The IPSO is used to search the optimal parameters of LS-SVM regression model to increase the convergence speed and improve the generalization ability of LS-SVM. The spatial location of fire is achieved by three-dimensional reconstruction. The proposed method is applied to fire location for high and large buildings, and experimental results show that the method is effective, fast and accurate.

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Section: Figure 2 Binocular Stereo Vision Modlementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Fire Location for High and Large-Span Space Buildings based on Binocular Stereo Vision

Lu¹,

Wang²,

Wang³

2016

IJSH

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show abstract

“…2. Object detection, localization, prediction and tracking should be realized in three-dimensional space [19,64,65] because the ball is often lifted by the robots' high kicks. This problem can be dealt with by constructing a hybrid vision system using a binocular stereovision system and an omnidirectional vision system, so the advantages of these two vision systems can be combined.…”

Section: Developing Trends and The Research Focusesmentioning

confidence: 99%

A Survey on Visual Perception for RoboCup MSL Soccer Robots

Xiong

et al. 2013

International Journal of Advanced Robotic Systems

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Visual perception is the most important method for providing information about the competition environment for RoboCup Middle Size League (MSL) soccer robots. The paper reviews the advancement of visual perception in RoboCup MSL soccer robots from several points of view including the design and calibration of the vision system, the visual object recognition, the estimation of the object’s motion, robot visual self‐localization and multi‐robot cooperative sensing. The research progress we have achieved is also introduced in this review. The developing trends and the future research focuses on this problem are also discussed

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“…Corresponding to the number of viewpoints, the catadioptric stereo has to divide the camera’s field of view into smaller fields for multi-view, whereas it can provide a relatively long baseline width and large vergence angle between mirrored virtual cameras for accurate stereo measurement. Considering camera calibration and stereo rectification [ 68 , 69 ], several real-time catadioptric stereo systems have also been developed [ 70 , 71 , 72 , 73 , 74 , 75 ]. However, most catadioptric stereo systems have not been used for an active stereo to expand the field of view for wide-area surveillance.…”

Section: Introductionmentioning

confidence: 99%

Monocular Stereo Measurement Using High-Speed Catadioptric Tracking

Takaki

Ishii

2017

Sensors

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This paper presents a novel concept of real-time catadioptric stereo tracking using a single ultrafast mirror-drive pan-tilt active vision system that can simultaneously switch between hundreds of different views in a second. By accelerating video-shooting, computation, and actuation at the millisecond-granularity level for time-division multithreaded processing in ultrafast gaze control, the active vision system can function virtually as two or more tracking cameras with different views. It enables a single active vision system to act as virtual left and right pan-tilt cameras that can simultaneously shoot a pair of stereo images for the same object to be observed at arbitrary viewpoints by switching the direction of the mirrors of the active vision system frame by frame. We developed a monocular galvano-mirror-based stereo tracking system that can switch between 500 different views in a second, and it functions as a catadioptric active stereo with left and right pan-tilt tracking cameras that can virtually capture 8-bit color 512×512 images each operating at 250 fps to mechanically track a fast-moving object with a sufficient parallax for accurate 3D measurement. Several tracking experiments for moving objects in 3D space are described to demonstrate the performance of our monocular stereo tracking system.

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3D-objecttracking with a mixed omnidirectional stereo camera system

Cited by 22 publications

References 26 publications

Fire Location for High and Large-Span Space Buildings based on Binocular Stereo Vision

Fire Location for High and Large-Span Space Buildings based on Binocular Stereo Vision

A Survey on Visual Perception for RoboCup MSL Soccer Robots

Monocular Stereo Measurement Using High-Speed Catadioptric Tracking

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