双摄像机系统对移动目标的跟踪.pdfVIP

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) : . , , . . , . 2D , , , , . : ; ; : 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) , ,