Attentive Visual Tracking

Roberts, J.M. and Charnley, D. (1993) Attentive Visual Tracking. 4th British Machine Vision Conf.. 459--468 .

Record type: Conference or Workshop Item (Other)

Abstract

The research reported here addresses the problem of detecting and tracking independently moving objects from a moving observer in real time, using corners as object tokens. Local image-plane constraints are employed to solve the correspondence problem. The approach relaxes the restrictive static-world assumption conventionally made, and is therefore capable of tracking independently moving and deformable objects. Tracking is performed without the use of any 3-dimensional motion model. The technique is novel in that, unlike traditional feature tracking algorithms where feature detection and tracking is carried out over the entire image-plane, here it is restricted to those areas most likely to contain meaningful image structure. Feature instantiation regions are defined from a combination of odometry information and a limited knowledge of the operating scenario. The algorithms developed have been tested on real image sequences taken from typical driving scenarios. Preliminary experiments on a parallel (Transputer) architecture indicate that real-time operation is achievable.

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