Intelligent auto tracking in 3D space by image processing

A robotic vision system has been designed and analyzed for real time tracking of maneuvering objects. Passive detection using live TV images provides the tracking signals derived from the video data. The calibration and orientation of two cameras is done by a bundle adjustment technique. The target...

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Main Authors:	Al-Khateeb, Khalid A. Saeed, Awang, Mat Kamil, Khalifa, Othman Omran
Format:	Conference or Workshop Item
Language:	English
Published:	2009
Subjects:	TK7885 Computer engineering
Online Access:	http://irep.iium.edu.my/5651/ http://irep.iium.edu.my/5651/1/Intelligent_Auto_Tracking_in_3D_Space_by_Image_Processing.pdf

id	iium-5651
recordtype	eprints
spelling	iium-56512012-03-20T08:37:24Z http://irep.iium.edu.my/5651/ Intelligent auto tracking in 3D space by image processing Al-Khateeb, Khalid A. Saeed Awang, Mat Kamil Khalifa, Othman Omran TK7885 Computer engineering A robotic vision system has been designed and analyzed for real time tracking of maneuvering objects. Passive detection using live TV images provides the tracking signals derived from the video data. The calibration and orientation of two cameras is done by a bundle adjustment technique. The target location algorithm determines the centroid coordinates of the target in the image plane and relates it to the aim point in the object plane. The stereoscopic images provide the information, from which the range, r of the object can be determined. The azimuth, thetas and elevation, phi of the target with respect to a certain origin are determined by correlating the x-y displacements of the centroid in the image plane with the angular displacement of the target in the object plane. The servo drive signals for both the robot motion and the angular positioning of the cameras are derived from the image processing algorithm that keeps the centroid of the target image in the center of the frame and the target in line with the axis of the optical system. Hence, the spherical coordinates of the target are defined and updated with every TV frame. The time development of the centroid in successive TV frames represents the real time trajectory of the target path. A non-linear prediction technique keeps the target within the aim zone of the tracking system. In order to minimize the image processing time, i.e. kept within the demand of real time operation, one TV frame time, an image segmentation process is made to subtract nearly all redundant background details. 2009-02-21 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/5651/1/Intelligent_Auto_Tracking_in_3D_Space_by_Image_Processing.pdf Al-Khateeb, Khalid A. Saeed and Awang, Mat Kamil and Khalifa, Othman Omran (2009) Intelligent auto tracking in 3D space by image processing. In: The International Conference on Robotics and Biomimetics (ROBIO) 2008, 21-26 Feb., 2009, Bangkok, Thailand.
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TK7885 Computer engineering
spellingShingle	TK7885 Computer engineering Al-Khateeb, Khalid A. Saeed Awang, Mat Kamil Khalifa, Othman Omran Intelligent auto tracking in 3D space by image processing
description	A robotic vision system has been designed and analyzed for real time tracking of maneuvering objects. Passive detection using live TV images provides the tracking signals derived from the video data. The calibration and orientation of two cameras is done by a bundle adjustment technique. The target location algorithm determines the centroid coordinates of the target in the image plane and relates it to the aim point in the object plane. The stereoscopic images provide the information, from which the range, r of the object can be determined. The azimuth, thetas and elevation, phi of the target with respect to a certain origin are determined by correlating the x-y displacements of the centroid in the image plane with the angular displacement of the target in the object plane. The servo drive signals for both the robot motion and the angular positioning of the cameras are derived from the image processing algorithm that keeps the centroid of the target image in the center of the frame and the target in line with the axis of the optical system. Hence, the spherical coordinates of the target are defined and updated with every TV frame. The time development of the centroid in successive TV frames represents the real time trajectory of the target path. A non-linear prediction technique keeps the target within the aim zone of the tracking system. In order to minimize the image processing time, i.e. kept within the demand of real time operation, one TV frame time, an image segmentation process is made to subtract nearly all redundant background details.
format	Conference or Workshop Item
author	Al-Khateeb, Khalid A. Saeed Awang, Mat Kamil Khalifa, Othman Omran
author_facet	Al-Khateeb, Khalid A. Saeed Awang, Mat Kamil Khalifa, Othman Omran
author_sort	Al-Khateeb, Khalid A. Saeed
title	Intelligent auto tracking in 3D space by image processing
title_short	Intelligent auto tracking in 3D space by image processing
title_full	Intelligent auto tracking in 3D space by image processing
title_fullStr	Intelligent auto tracking in 3D space by image processing
title_full_unstemmed	Intelligent auto tracking in 3D space by image processing
title_sort	intelligent auto tracking in 3d space by image processing
publishDate	2009
url	http://irep.iium.edu.my/5651/ http://irep.iium.edu.my/5651/1/Intelligent_Auto_Tracking_in_3D_Space_by_Image_Processing.pdf
first_indexed	2023-09-18T20:14:21Z
last_indexed	2023-09-18T20:14:21Z
_version_	1777407687802224640

Intelligent auto tracking in 3D space by image processing

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