REAL-TIME OBJECT TRACKING FROM CORNERS

This paper reports a visual tracking system that can track moving obje cts in real-time with a modest workstation equipped with a pan-tilt de vice. The algorithm essentially has three parts: (1) feature detection , (2) tracking and (3) control of the robot head. Corners are viewpoin t invariant, hence being utilised as the beacon for tracking. Tracking is performed in two stages of Kalman filtering and affine transformat ion. A technique of reducing greatly the computational time for the co rrelation is also described. The Kalman filter predicts intelligently the fovea window and reduced computation dramatically. The affine tran sformation deals with the unexpected events when there is partial occl usion.