Abstract
We present a system architecture for robust target following with a mobile robot. The system is based on tracking multiple cues in binocular stereo images using the XVision toolkit. Fusion of complementary information in the images, including texture, color and depth, combined with a fast optimized processing reduces the possibility of loosing the tracked object in a dynamic scene with several moving targets on intersecting paths. The presented system is capable of detecting objects obstructing its way as well as gaps. It supports application in more cluttered terrain, where a wheel drive of mobile robot cannot take the same path as a walking person. We describe the basic principles of the fast feature extraction and tracking in the luminance, chrominance and disparity domain. The optimized tracking algorithms compensate for illumination variations and perspective distortions as already presented in our previous publications about the XVision system.
| Original language | English (US) |
|---|---|
| Title of host publication | Proceedings of SPIE - The International Society for Optical Engineering |
| Editors | D W Gage, H M Choset |
| Pages | 114-125 |
| Number of pages | 12 |
| Volume | 4573 |
| DOIs | |
| State | Published - 2001 |
| Event | Mobile Robots XVI - Newton, MA, United States Duration: Oct 29 2001 → Oct 30 2001 |
Other
| Other | Mobile Robots XVI |
|---|---|
| Country | United States |
| City | Newton, MA |
| Period | 10/29/01 → 10/30/01 |
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Keywords
- 3D tracking
- Color tracking
- Vision-based navigation
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Condensed Matter Physics
Cite this
Dynamic composition of tracking primitives for interactive vision-guided navigation. / Burschka, Darius; Hager, Gregory.
Proceedings of SPIE - The International Society for Optical Engineering. ed. / D W Gage; H M Choset. Vol. 4573 2001. p. 114-125.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Dynamic composition of tracking primitives for interactive vision-guided navigation
AU - Burschka, Darius
AU - Hager, Gregory
PY - 2001
Y1 - 2001
N2 - We present a system architecture for robust target following with a mobile robot. The system is based on tracking multiple cues in binocular stereo images using the XVision toolkit. Fusion of complementary information in the images, including texture, color and depth, combined with a fast optimized processing reduces the possibility of loosing the tracked object in a dynamic scene with several moving targets on intersecting paths. The presented system is capable of detecting objects obstructing its way as well as gaps. It supports application in more cluttered terrain, where a wheel drive of mobile robot cannot take the same path as a walking person. We describe the basic principles of the fast feature extraction and tracking in the luminance, chrominance and disparity domain. The optimized tracking algorithms compensate for illumination variations and perspective distortions as already presented in our previous publications about the XVision system.
AB - We present a system architecture for robust target following with a mobile robot. The system is based on tracking multiple cues in binocular stereo images using the XVision toolkit. Fusion of complementary information in the images, including texture, color and depth, combined with a fast optimized processing reduces the possibility of loosing the tracked object in a dynamic scene with several moving targets on intersecting paths. The presented system is capable of detecting objects obstructing its way as well as gaps. It supports application in more cluttered terrain, where a wheel drive of mobile robot cannot take the same path as a walking person. We describe the basic principles of the fast feature extraction and tracking in the luminance, chrominance and disparity domain. The optimized tracking algorithms compensate for illumination variations and perspective distortions as already presented in our previous publications about the XVision system.
KW - 3D tracking
KW - Color tracking
KW - Vision-based navigation
UR - http://www.scopus.com/inward/record.url?scp=0035766118&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0035766118&partnerID=8YFLogxK
U2 - 10.1117/12.457436
DO - 10.1117/12.457436
M3 - Conference contribution
AN - SCOPUS:0035766118
VL - 4573
SP - 114
EP - 125
BT - Proceedings of SPIE - The International Society for Optical Engineering
A2 - Gage, D W
A2 - Choset, H M
ER -