Motion Parameter Estimation by Using Spatially Localized Reticles and Its Application to Real-Time Object Tracking

Abstract

A new configuration of spatial reticles is described for applications in real-time object tracking task. The motion of a planar object in a three-dimensional environment is decomposed into global motion parameters by measuring the temporal frequency of the reticles arranged on concentric circles in the image plane. Experiments were performed to maintain the size and the position of the object's image by controlling the attitude of a camera on the basis of the estimated motion parameters. The proposed system, composed of only a commercially available PC, exhibited good tracking performances with processing rate of 15 frames per second.