Localization of a Moving Object by a Moving Observer
Peter Nordlund
Tech. Rep. ISRN KTH/NA/P--94/19--SE, June 1994.
Abstract
We present an algorithm which, using a sequence of images in time,
indicates the location of a moving object.
The algorithm indicates the object localization after only 2 frames, but
the result improves over time.
Experimental results, from programs implemented in C++ are presented.
The method exploits the brightness
constancy constraint in conjunction with an affine fit between 2 consecutive
images. After the affine fit has been made, a difference image is produced.
A centroid of this difference image is computed. Thnadantroid iCVAP/ndicates the location
of the object. This method handles the case with both a moving camera and a moving object.
The algorithm is noniterative, computationally cheap, and suitable for an implementation
on a pipeline processing machine, (e.g. Datacube MV200).
The running time complexity is O(n) for an image containing n pixels.
Full paper:
(PostScript 1016k)
Peter Nordlund <petern@bion.kth.se>