16.412Cognitive RoboticsAutonomous Visual Tracking AlgorithmsAlexander OmelchenkoMay 12, 2004Problem FormulationCameraFOVGround stationTestbedaircraftSimplified ProblemPan/tilt/zoom camerainstalled on theceiling of the roomCameraFOVTypes of Visual TrackingTimeTime...(a) Stepwise tracking(b) Continuous trackingPart 2:Visual trackingalgorithmPart 1:Camera motioncontrol algorithmCameraVideooutputMotorcontrolCamera Pointing Control Approach• Sequence of images with any moving object is sufficient• Object moving toward camera is a more challenging situation than object moving in a direction perpendicular to line of sightTest Sequence of ImagesTest Sequence of ImagesTest Sequence of ImagesTest Sequence of ImagesTest Sequence of ImagesTest Sequence of ImagesTest Sequence of ImagesTest Sequence of ImagesTest Sequence of ImagesTest Sequence of ImagesTest Sequence of ImagesTest Sequence of ImagesTest Sequence of ImagesTest Sequence of ImagesTest Sequence of ImagesTest Sequence of ImagesTest Sequence of ImagesTest Sequence of ImagesTest Sequence of ImagesTest Sequence of ImagesTest Sequence of ImagesTest Sequence of ImagesTest Sequence of ImagesTest Sequence of ImagesTest Sequence of ImagesTest Sequence of ImagesTest Sequence of ImagesVisual Tracking ResultsVisual Tracking ResultsVisual Tracking ResultsVisual Tracking ResultsVisual Tracking ResultsVisual Tracking ResultsVisual Tracking ResultsVisual Tracking ResultsVisual Tracking ResultsVisual Tracking ResultsVisual Tracking ResultsVisual Tracking ResultsVisual Tracking ResultsVisual Tracking ResultsVisual Tracking ResultsVisual Tracking ResultsVisual Tracking ResultsVisual Tracking ResultsVisual Tracking ResultsVisual Tracking ResultsVisual Tracking ResultsVisual Tracking ResultsVisual Tracking ResultsVisual Tracking ResultsVisual Tracking ResultsVisual Tracking ResultsVisual Tracking AlgorithmVisual Tracking AlgorithmVisual Tracking Algorithm• Works with stationary background and single moving object• Applicable to stepwise tracking• Applicable to the simplified problemVisual Tracking AlgorithmContour TrackingM. Isard, A. Blake, Condensation - conditional density propagation for visual tracking, Int. J. Computer Vision, 1998Contour TrackingContour TrackingContour TrackingContour TrackingContour TrackingSpike removalContour TrackingContour
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