In this paper ASSET-2, a complete real-time vision system for segmentation and tracking of independently moving objects, has been described. ASSET-2 requires no camera calibration or motion registration, and performs all calculations in the image plane. Information gained from the motion of two dimensional features is integrated with one dimensional boundaries. ASSET-2 achieves automatic instantiation of tracking for each new object detected, and any number of objects can be tracked. Occlusion of one object by another is correctly handled. The temporal integration of segmentation information in such a robust and flexible way is a step forward in the area of image sequence understanding. The results presented show ASSET-2 performing reliable and accurate object tracking for several image sequences. In the near future ASSET-2 will be extended to incorporate knowledge of the world so that simple estimates of the three dimensional positions and motions of objects in its field of view can be made. Also it is hoped that more advanced tracking can be developed; for example, sudden changes in object size should be marked as occlusion by the 'background.' Comparisons of the linear fit to a tracked cluster's optic flow with the cluster's shape changes should help to identify occlusion. The ASSET-2 system will be integrated with a structure-from-motion system which recovers world structure in a static environment. ASSET-2 will be used to segment out and track moving vehicles, and the static part of the scene will then be tracked by the structure-from-motion system.
ASSET-2: Real-time motion segmentation and shape tracking
ASSET-2, Echtzeitbewegungssegmentierung und Formverfolgung
IEEE Transactions on Pattern Analysis and Machine Intelligence ; 17 , 8 ; 814-820
1995
7 Seiten, 11 Bilder, 10 Quellen
Article (Journal)
English
Bildverarbeitung , Bildanalyse , automatische Bildanalyse , automatische Auswertung , Bildfolge , Bewegtbild , Bewegungsanalyse , bewegtes Objekt , Bewegungsbahn , Bewegungsablauf , Bahnverfolgung , Zielverfolgung , Echtzeitbetrieb , Schätzung , Kantenerkennung , Kontur , Cluster-Bildung , Transputer , Rechnerunterstützung , autonomes Fahrzeug
ASSET-2: Real-Time Motion Segmentation and Shape Tracking
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