DocumentCode :
2593759
Title :
Tracking and grouping 3D line segments
Author :
Zhang, Zhengyou ; Faugeras, Olivier D.
Author_Institution :
INRIA Sophia-Antipolis, Valbonne, France
fYear :
1990
fDate :
4-7 Dec 1990
Firstpage :
577
Lastpage :
580
Abstract :
The authors address the motion tracking problem that arises in the context of a mobile vehicle navigating in an unknown environment where other mobile bodies such as human beings or robots may also be moving. A stereo rig mounted on the mobile vehicle provides a sequence of 3-D maps of the environment. The current stereo system is trinocular and the 3-D tokens used at the moment are line segments corresponding to significant intensity discontinuities in the images. Although the framework to solve the motion tracking problem developed in this work arises in this specific context, the authors believe it should be applicable in other contexts; in particular they could use other 3-D primitives, for example, points, combinations of points and lines, curves
Keywords :
computer vision; computerised pattern recognition; computerised picture processing; 3-D tokens; 3D line segments; curves; grouping; human beings; intensity discontinuities; lines; mobile bodies; mobile vehicle; mobile vehicle navigating; motion tracking problem; points; robots; stereo rig; stereo system; trinocular; Condition monitoring; Image analysis; Large Hadron Collider; Layout; Mobile robots; Motion analysis; Predictive models; Tires; Tracking loops;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Computer Vision, 1990. Proceedings, Third International Conference on
Conference_Location :
Osaka
Print_ISBN :
0-8186-2057-9
Type :
conf
DOI :
10.1109/ICCV.1990.139598
Filename :
139598
Link To Document :
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