Abstract
The tracking of contours extracted from image sequences is investigated. The algorithm is based on the fusion of intensity edges and motion information (extracted from optical flow) to infer the structure of objects in space. As far as the edge tracking process is concerned it is rather general and can be applied to any kind of “ego-” or “eco-” centric motion. Furthermore, in the case of ego-motion the constraint imposed by active motion of the camera can be exploited. Within this framework in order to facilitate the measure of the navigation parameters, a constrained egomotion strategy was adopted in which the position of the fixation point is stabilized during the navigation (in an anthropomorphic fashion). This constraint reduces the dimensionality of the parameter space without increasing the complexity of the equations.
The edge tracking causes an accumulation of the errors, relative to each instantaneous displacement, up to the global cumulative image displacement. These errors can be evaluated and reduced using a simple procedure, in which the computed image displacement is combined with a prediction based on the contour trajectory extrapolated from the preceding frames.
Experimental results on real image sequences are presented.
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© 1993 ECSC-EEC-EAEC, Brussels-Luxembourg
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Tistarelli, M. (1993). On Tracking Edges. In: Pfleger, S., Gonçalves, J., Vernon, D. (eds) Data Fusion Applications. Research Reports ESPRIT, vol 1. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-84990-9_17
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DOI: https://doi.org/10.1007/978-3-642-84990-9_17
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