Real-time visual tracking using correlation techniques
نویسندگان
چکیده
A real-time correspondence based tracking algorithm is detailed. The system uses a pipeline processor , a general purpose processor, a camera and a display. The Minimum Noise and Correlation Energy (MINACE) lter is used in the tracking algorithm as it provides a good combination of speed, accuracy and exibility for the targeted hardware system. The system designed is fast and tracking is accomplished at a rate of 15hz. The system is adaptive and does not rely on a previous model of the object; the training image for lter synthesis is acquired from previous image frames and the lter is synthesized online to ac-comodate 3-D variations of the target being tracked. The system tracks an object consistantly as is demonstrated by the low deviation of the results in the evaluation. The correlation lter-based tracking algorithm has proved to be useful in our research in cooperative mobile robots. A visual servoing system has been implemented using this tracking algorithm for convoying of multiple mobile robots.
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