Visual tracking based on dynamic transition in groups of affine transformed templates

摘要

Visual tracking plays an important role in various robotic tasks such as monitoring an object in the manipulation or tracking a target in navigation of a mobile robot. This paper presents a view-based visual tracking system. The view-based systems are more general than the other approaches which require analysis of 2D image features and the matching with the 3D models. For the image correlation, we use a visual tracking hardware based on a template matching algorithm. One problem of the view-based visual tracking is how to cope with the changes of the template's appearance in the 3D environment. Consequently, the system generates affine transformed templates corresponding to various orientation of the target image plane. We use geodesic domes not only for an uniform sampling of the 3D orientations of the template image plane, but also for dynamic transition in groups of the candidate templates to utilize the latest matching results. Experimental results demonstrate the usefulness of the proposed system.