Moving-object recognition using premarking and active vision

This paper presents an active-vision system for the recognition of 3D objects moving along predictable trajectories. The novelty of this system lies in its unique approach to deal with the problem of moving-object recognition, by integrating object pre-marking, object-trajectory-prediction and time-optimal robot-motion techniques developed in our laboratory. The recognition technique is an extension of our earlier work on static-object recognition. Therein, objects were pre-marked optimally using circular markers, which are utilized during run time for guiding a robot-mounted camera to acquire 2D standard-views for efficient matching purposes. The Kalman-filter based prediction of the object trajectory and the time-optimal movement of the mobile camera for image acquisition are also based on our earlier research results on moving-object interception