The University of Southampton
University of Southampton Institutional Repository

Parallel Attentive Visual Tracking

Roberts, J.M. and Charnley, D. (1994) Parallel Attentive Visual Tracking Engineering Applications of Artificial Intelligence, 7, (2), 205--215.

Record type: Article


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. Corners are detected using the Harris corner detector and 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. Two distinct types of instantiation regions are identified, these being the focus-of-expansion region and border regions of the image-plane. The size and location of these 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. Implementation of the algorithm using T800 Transputers has shown that near-linear speedups are achievable, and that real-time operation is possible (half-video rate has been achieved using 30 processing elements).

Full text not available from this repository.

More information

Published date: 1994
Organisations: Electronics & Computer Science


Local EPrints ID: 250369
ISSN: 0952-1976
PURE UUID: 6c7d7c2a-fa60-4107-824a-df739678a662

Catalogue record

Date deposited: 04 May 1999
Last modified: 18 Jul 2017 10:42

Export record


Author: J.M. Roberts
Author: D. Charnley

University divisions

Download statistics

Downloads from ePrints over the past year. Other digital versions may also be available to download e.g. from the publisher's website.

View more statistics

Atom RSS 1.0 RSS 2.0

Contact ePrints Soton:

ePrints Soton supports OAI 2.0 with a base URL of

This repository has been built using EPrints software, developed at the University of Southampton, but available to everyone to use.

We use cookies to ensure that we give you the best experience on our website. If you continue without changing your settings, we will assume that you are happy to receive cookies on the University of Southampton website.