Citation

Ferruz J, Ollero A. J. Intell. Robotic Syst. 2000; 28(1-2): 85-123.

Copyright

(Copyright © 2000, Holtzbrinck Springer Nature Publishing Group)

DOI

10.1023/A:1008163332131

PMID

unavailable

Abstract

This paper describes an integrated vehicle control system with visual feedback. A general-purpose, low-level feature matching method, able to work in real time without any strict assumptions on the environment structure or camera parameters, generates low-level matching results, which are used as source of data for applications like mobile object tracking, among others. A generalized predictive path-tracking control approach keeps the vehicle on the trajectory defined by the moving target. In the low-level matching process, block-based features (windows) are selected and tracked along a stream of monocular images; least residual square error and similarity between clusters of features are used as constraints to select the right matching pair between multiple candidates. Real-time performance is achieved through optimized algorithms and a parallel DSP-based multiprocessor system implementation. Object detection and tracking is motion-based, and does not require a predefined model of the target. The integrated control system has been tested on the ROMEO-3R experimental vehicle.

Language: en