Real-Time Monocular Three-Dimensional Motion Tracking Using a Multithread Active Vision System

被引：10
|
作者：
Hu, Shaopeng [1 ]
Jiang, Mingjun [1 ]
Takaki, Takeshi [1 ]
Ishii, Idaku [1 ]
机构：
[1] Hiroshima Univ, Grad Sch Engn, Robot Lab, 1-4-1 Kagamiyama, Higashihiroshima, Hiroshima 7398527, Japan
来源：
JOURNAL OF ROBOTICS AND MECHATRONICS | 2018年 / 30卷 / 03期
基金：
日本学术振兴会;
关键词：
high-speed vision; stereo tracking; three-dimensional motion capture; viewpoint switching;
D O I：
10.20965/jrm.2018.p0453
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this study, we developed a monocular stereo tracking system to be used as a marker-based, three-dimensional (3-D) motion capture system. This system aims to localize dozens of markers on multiple moving objects in real time by switching five hundred different views in 1 s. The ultrafast mirror-drive active vision used in our catadioptric stereo tracking system can accelerate a series of operations for multithread gaze control with video shooting, computation, and actuation within 2 ms. By switching between five hundred different views in 1 s, with real-time video processing for marker extraction, our system can function as J virtual left and right pan-tilt tracking cameras, operating at 250/J fps to simultaneously capture and process J pairs of 512 x 512 stereo images with different views via the catadioptric mirror system. We conducted several real-time 3-D motion experiments to capture multiple fast-moving objects with markers. The results demonstrated the effectiveness of our monocular 3-D motion tracking system.
引用
收藏
页码：453 / 466
页数：14
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