Adaptive stereo object tracking system based-on block-based SSD algorithm and camera configuration parameter

摘要

In this paper, an adaptive stereo object tracking system based on a block-based SSD(sum of squared difference) algorithm and camera configuration parameters is proposed. That is, by applying SSD algorithm to the reference image of the previous frame and the input image of the current frame, each location coordinate of a moving target in the right and left images are extracted and the respective shifted distances from the reference target position which is assumed to be at the origin in the initial frame are detected. Using the pan/tilt's moving angle calculated from the target's shifted distance and the configuration parameters of a stereo camera system, the block-mask size of a target object can be adaptively determined. The target image segmented with this block mask is used as a reference image in the next stage of tracking, and it is automatically updated according to the same procedure during the course of target tracking. From some experiments using sequential 48 frames of the dynamic stereo image, it is analyzed that the horizontal and vertical stereo disparities on the target object after stereo tracking are kept to be very low values of 1.5 and 0.4 pixels on average, respectively.