Title:	IMPLEMENTATION OF THE 3D ROBOT VISION SYSTEM THROUGH THE CONVERGENCE CONTROL BASED ON THE OPTO-DIGITAL SCHEME
Author(s):	Jung-hwan Ko , Jung-suk Lee
ISBN:	978-972-8924-60-7
Editors:	António Palma dos Reis
Year:	2008
Edition:	Single
Keywords:	Robot vision, Stereo camera, Optical correlator, Object tracking, Target detection, Pan/tilt control
Type:	Poster/Demonstration
First Page:	231
Last Page:	233
Language:	English
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Paper Abstract:	This proposed system can adaptively track a moving target by controlling the convergence of the stereo camera. Firstly, the target is detected through the background matching of the sequential input images by using optical correlator and then the target area is segmented by using the target projection mask which is composed by hierarchical digital processing of image subtraction, logical operation and morphological filtering. Secondly, the location's coordinate of the moving target object for each of the sequential input frames can be extracted through carrying out optical correlator between the reference image of the target region mask and the stereo input image. Finally, the convergence and pan/tilt of stereo camera can be sequentially controlled by using these target coordinate values and the target can be kept in tracking. Also, a possibility of real-time implementation of the adaptive stereo object tracking system is suggested through optically implementing the proposed target detection and convergence control algorithms.
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