A Moment-based 3D Object Tracking Algorithm for High-speed Vision

Author

Komuro, Takashi ; Ishikawa, Masatoshi

Author_Institution

Dept. of Inf. Phys. & Comput., Tokyo Univ.

fYear

2007

fDate

10-14 April 2007

Firstpage

58

Lastpage

63

Abstract

In this paper we propose a method of realizing continuous tracking of a three-dimensional object by calculating moments of a translating and rotating object whose shape is known, either analytically or by using a table, and matching them with those of the input image. In simulation, the position and orientation is accurately recognized. Using a noise model and particle filter, we show that the position and orientation can be recognized even with noisy images.

Keywords

image matching; method of moments; object detection; particle filtering (numerical methods); robot vision; stereo image processing; target tracking; continuous tracking; high-speed vision; image matching; moment-based 3D object tracking; noise model; object rotation; object translation; particle filter; Image analysis; Image recognition; Noise figure; Noise robustness; Noise shaping; Pattern matching; Pattern recognition; Robotics and automation; Target recognition; Target tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2007 IEEE International Conference on

Conference_Location

Roma

ISSN

1050-4729

Print_ISBN

1-4244-0601-3

Electronic_ISBN

1050-4729

Type

conf

DOI

10.1109/ROBOT.2007.363765

Filename

4209070