Transfer of fixation for an active stereo platform via affine structure recovery

This paper describes an algorithm for stereo tracking using 3D affine transfer of a body-centred fixation point. Transfer is based on corners detected in the image and matched over time and in stereo. The paper presents a method of basing the transfer on all the available data, providing immunity to noise and poor conditioning. The paper also shows an implementation at video rates on a four axis active camera platform. Graceful degradation in the presence of insufficient data and fixed latency tracking in parallel with the structure calculation provide robust performance. Recovered trajectories are shown in an approximately Euclidean frame while structure transfer is demonstrated by the evolution of the target´s convex hull