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双摄像机系统对移动目标的跟踪
29 2 机器人 ROBO T V o l. 29, N o. 2
2007 3 M arch, 2007
: 2007) 020 13307
*
杨广林, 孔令富, 赵逢达
( , 066004)
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: TP 24 : B
Tracking ofM oving Objectwith Bicamera System
YANG Guanglin, KONG L ing u, ZHAO F engda
(College of Information Science and Engineering, Yanshan University, Qinhuangdao 066004, China)
Abstract: Th is paper proposes a bicam era realtmi e track ing system w h ich is composed o tw o cam eras: one is a static
cam era, and the other is a rem ov ab le cam e ra. The system mi plem ents realtmi e track ing o m ov ing object by m ak ing u se o
the respective advantages and overcom ing the disadvantages o the tw o cam eras in the sy stem. The sy stem structure and
unctional partition o the bicam era system a re presented. T he object m atching on wt o mi age p lanes o the wt o came ras is
ach ieved by hom og raphy relation educed rom an approx mi ate cam era projective model. In the system, a 2D mo tion model is
established on the mi ag e p lane o the static cam era to pred ict the position o the object by K a lm an ilter, then by u sing ho
m og raphy relation, the pred icted position o ob jec t can be obta ined on the mi age plane o the dynam ic cam era. Then, the ro
tation ang le o the dynam ic cam era p la t orm is ca lcu lated, and the se rvo control o the dynam ic cam era is mi p lem ented.
K eywords: v ideo surve illance; mov ing object; tracking
1 ( Introd ction) ,
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