Abstract
In computer vision efficient methods for detection and interpretation of motion of objects have been developed. As technology advances, the ambition to include this ability in robot vision systems appears more and more realistic. However, to become of practical use, real time performance (in some sense) is required, and the current possibilities for this are still limited.
Many different approaches to motion analysis have been proposed in the literature. Motion information may be derived from image analysis systems at different levels of the general scheme of image processing and interpretation. However, to achieve a result in terms of motion descriptions, most of these methods depend extensively on image preprocessing (and interpretation) or on integration into an image postprocessing (and interpretation) system.
A number of methods are reviewed and evaluated with regard to dependency on supplementary processing and with regard to current potential for real time application. Also we discuss their weaknesses due to problems of ambiguity and noise. However, one can take into account that real time operation also means continuous operation and thereby that a temporal context is provided. This allows concentration on changes most of which are predictable, and savings in computing as well as improved robustness to noise and ambiguities can be achieved.
In conclusion we find that high level token matching currently is one of the most promising approaches, and an experimental implementation is used to demonstrate a possible approach to motion analysis in real time.
This research has in part been sponsored by the Danish Technical Research Council, FTU grant 5.17.5.6.06
This research has in part been sponsored by the Danish Technical Research Council, FTU grant 5.17.5.6.06
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
K.J. Aaström, B. Wittenmark: Computer controlled systems, Prentice-Hall, Englewood Cliffs, NJ, 1984
J.K. Aggarwal, L.S. Davis, W.N. Martin: Correspondance processes in dynamic scene analysis. IEEE Proceedings, Vol. 69, No. 5, pp. 562–571, May 1981
J. Aggarwal: On the computation of motion from a sequence on monocular or stereo images, — an overview. In: A.K.C. Wong, A. Pugh (eds.): Machine intelligence and knowledge engineering for robotics applications NATO ASI Series F, Vol. 33, Springer-Verlag, Berlin-Heidelberg-New York, 1987
R.L. Andersson: Real time gray scale video processing using a moment generating chip, IEEE Robotics and Automation, Vol. RA-1, No. 2, June 1985
J. Arnspang: Determining optic flow Ph.D. thesis, Dept. of Computer Science, Copenhagen University, Denmark, January 1988
B.F. Buxton, H. Buxton, B.K. Stephenson: Parallel computations of optic flow in early image processing IEEE Proceedings, Vol. 131, No. 6, pp. 593–597, Oct. 1984
C.K. Chow, J.K. Aggarwal: Computer analysis of planar curvelinear moving images IEEE Trans on Comput, Vol. C-26, pp. 179–185, February 1977
H.I. Christensen: Monitoring moving objects in real-time M.Sc. Thesis, Inst, of Electronic Systems, Aalborg University, June 1987
H.I. Christensen, E. Granum: On token matching in real-time motion analysis. In: Proc. BPRA Pattern Recognition. 4th Int. Conf.. Cambridge. Mar. 1988. J. Kittler (ed.), Lecture Notes in Computer Science, Vol. 301, Springer-Verlag, Berlin-Heidelberg-New York, pp. 448–457, 1988a
J. Ciccotelli, M. Dufaut, R. Husson: Control of tracking systems by image correlation. Robotics, Vol. 5, pp. 201–206, 1987
J.L. Crowley, P. Stelmaszyk, C. Discours: Measuring image flow by tracking edge-lines, 2nd ICCV, Florida, Dec. 1988
O.D. Faugeras, F. Lustman, G. Toscani: Motion and structure from motion from point and line matches, Proc. 1st ICCV, London, pp. 35–54, June 1987
E. Granum, K.H. Munk: Monitoring moving objects in real-time, BAG-memo 8607, Inst, of Electronic Systems, Aalborg University, March 1986
D.J. Heeger: Optical flow from spatio-temporal filters, Proc. 1st Int. Conf. on Computer Vision, IEEE, pp. 181–190, London, June 1987
B.K.P. Horn: Robot vision, McGraw Hill, New York, 1986
B.P.K. Horn, B.G. Schunck: Determining optical flow. Artificial Intelligence, Vol. 17, pp. 185–204, Aug. 1981
T.S. Huang (ed.), Image sequence analysis, Springer Verlag, Berlin-Heidelberg-New York, 1981
T.S. Huang (ed.), Image sequence processing and dynamic scene analysis, Springer Verlag, Berlin-Heidelberg-New York, 1983
R. Jain, H.H. Nagel: On analysis of accumulative difference pictures from image sequences of real world scenes, IEEE Trans, on PAMI. 1, pp. 206–213, 1979
B. Jähne: Image sequence analysis of complex physical objects: nonlinear small scale water surface waves, Proc. 1st ICCV, London, pp. 191–200, June 1987
M. Jenkin: Tracking three dimensional moving light displays. Proc. Workshop Motion Representation Contr., Toronto, Ont., Canada, pp. 66–70, 1983
M.K. Leung, Y-H. Yang: A region based approach for human body motion analysis, Pattern Recognition, Vol. 20, No. 3, pp. 321–339, 1987
W.N. Martin, J.K. Aggarwal: Survey, dynamic scene analysis, Computer Graphics and Image Processing 7, pp. 356–374 (1978)
H.H. Nagel: Image sequence analysis: what can we learn from applications?: In: T.S. Huang (ed.): Image Sequence Analysis Springer Verlag, New York, pp. 19–228, 1981.
H.H. Nagel: Overview on image sequence analysis. In: T.S. Huang (ed.): Image Sequence Processing & Dynamic Scene Analysis Berlin-Heidelberg-New York, NATO ASI serie F. Vol. 2, pp. 2–39, 1983
J. O’Rourke, N.L. Badler: Model-based Iimage analysis of human motion using constraint propagation, IEEE Trans, on PAMI, Vol. PAMI-2, No. 6, Nov. 1980
R.F. Rashid: Towards a system for the interpretation of moving light displays, IEEE Trans, on PAMI, Vol. PAMI-2, No. 6, Nov. 1980
J.W. Roach, J.K. Aggarwal: Determining the movement of objects from a sequence of images, IEEE Trans, on PAMI, Vol. 2, No. 6, November, 1980
I.K. Sethi, R. Jain: Finding trajectories of feature points in a monocular image sequence, IEEE Trans, on PAMI, Vol. 9, No. 1, pp. 56–73, jan. 1987
G.A. Shippey, R.J.H. Bailey, A.S.J. Farrow, D.R. Rutovitz, J.H. Tucker: A fast interval processor, Pattern Recognition, Vol. 14, Nos. 1–6, pp. 345–365, 1981
J.K. Tsotsos, J. Mylopoulos, H. Dominic Cowey, S.W. Zucker: A framework for visual motion understanding, IEEE Trans, on PAMI, Vol. PAMI-2, No. 6, Nov. 1980
S. Ullman: The interpretation of visual motion, MIT Press, Massachusetts, 1979
A. Verri, T. Poggio: Against quantitative optical flow, Proc. 1st ICCV, London, pp. 171–180, June 1987
A.M. Waxman, B. Kamgar-Parsi, M. Subbarao: Closed-form solutions to image flow equations, Proc. 1st ICCV, London, pp. 25–34, June 1987
A.M. Waxman, J.J. LeMoigne, L.S. Davis, B. Srinivasan, T.R. Kushner, E. Liang, T. Siddalingaiah: A visual navigation system for autonomous land vehicles, IEEE Journal of Robotics and Automation, Vo. RA-3, No. 2, april 1987
A.M. Waxman, K. Wohn: Contour evolution, neighbourhood deformation and global image flow: planar surfaces in motion, Int. Journal Robotics Research 4., No. 3, pp. 95–108, 1985
J. Wiklund, G. Granlund: Image sequence analysis for object tracking. Proc. 5th Scand. Conf. on Image Analysis, Stockholm, June 1987
S. Yalamanchili, W.N. Martin, J.K. Aggarwal: Extraction of moving object descriptions via differencing. Computer Graphics and Image Processing, Vol. 18, pp. 188–201, 1982
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1990 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Granum, E., Christensen, H.I. (1990). Dynamic Robot Vision. In: Henderson, T.C. (eds) Traditional and Non-Traditional Robotic Sensors. NATO ASI Series, vol 63. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-75984-0_5
Download citation
DOI: https://doi.org/10.1007/978-3-642-75984-0_5
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-75986-4
Online ISBN: 978-3-642-75984-0
eBook Packages: Springer Book Archive