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Paper WeC09.1

Hadj-Abdelkader, Hicham (IBISC), Mezouar, Youcef (Blaise Pascal University), Chateau, Thierry (Bliase Pascal University)

Generic Realtime Kernel Based Tracking

Scheduled for presentation during the Regular Session "Visual Tracking" (WeC09), Wednesday, May 16, 2012, 14:30−14:45, Meeting Room 9 (Sa)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on October 24, 2017

Keywords Omnidirectional Vision, Visual Tracking, Visual Servoing

Abstract

This paper deals with the design of a generic visual tracking algorithm suitable for a large class of camera (single viewpoint sensors). It is based on the estimation of the relationship between observations and motion on the sphere. This is efficiently achieved using a kernel-based regression function on a generic linearly-weighted sum of non-linear basis functions. We also present two set of experiments. The first one shows the efficiency of our algorithm through the tracking in video sequences acquired with three types of cameras (conventional, dioptric-fisheye and catadioptric). The real-time performances will be shown by tracking one or several planes. The second set of experiments presents an application of our tracking algorithm to visual servoing with a fisheye camera.

 

 

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