by Kevin J. Bradshaw, Philip F. Mclauchlan, Ian D. Reid, David W. Murray
Image and Vision Computing
http://www.robots.ox.ac.uk/ActiveVision/Papers/bradshaw_etal_ivc1994/bradshaw_etal_ivc1994.ps.gz
Add To MetaCart
Abstract:
We describe the implementation of, and results from, a real-time active surveillance vision system which detects moving objects in an everyday environment, directs the gaze of a head/eye platform towards the objects and subsequently pursues them smoothly. Target detection and pursuit are performed purely on the basis of image motion, and can continue over extended periods. Two independent parallel processes derive (i) coarse resolution motion over the entire image to direct saccadic shifts in attention over a wide field of view, and (ii) fine resolution motion in a small central region of the image used to perform smooth-pursuit. A gaze controller which selects results from the two visual processes and controls the movement of the head platform is implemented as a finite state machine. 1
Citations
|
1045
|
Determining optical flow
– Horn, Schunck
- 1981
|
|
383
|
Animate Vision
– Ballard
- 1991
|
|
91
|
Velocity determination in scenes containing several moving objects
– Fennema, Thompson
- 1979
|
|
79
|
Motion field and optical flow: qualitative properties
– Verri, Poggio
- 1989
|
|
56
|
Qualitative detection of motion by a moving observer
– Nelson
- 1991
|
|
53
|
Driving saccade to pursuit using image motion
– Murray, Bradshaw, et al.
- 1995
|
|
52
|
A modular head/eye platform for real-time reactive vision
– Sharkey, Murray, et al.
- 1993
|
|
49
|
Modal control of an attentive vision system
– Clark, Ferrier
- 1988
|
|
39
|
Gaze controls with interactions and delays
– Brown
- 1990
|
|
35
|
Active camera calibration for a Head-Eye platform using the variable State-Dimension filter
– McLauchlan, Murray
- 1996
|
|
24
|
Reactions to peripheral image motion using a head/eye platform
– Murray, McLauchlan, et al.
- 1993
|
|
18
|
Prediction and cooperation in gaze control
– Brown
- 1990
|
|
17
|
Computing optical flow from an overconstrained system of linear algebraic equations
– Campani, Verri
- 1990
|
|
16
|
Real-time smooth pursuit tracking
– Brown, Coombs, et al.
- 1993
|
|
14
|
Attentive visual servoing
– Clark, Ferrier
- 1993
|
|
13
|
Design of stereo heads
– Murray, Du, et al.
- 1993
|
|
13
|
The rochester robot
– Brown
- 1988
|
|
10
|
Motion analysis from first-order properties of optical flow
– Campani, Verri
- 1992
|
|
8
|
Horatio: libraries for vision applications
– McLauchlan
- 1992
|
|
3
|
Coarse motion for saccade control
– McLauchlan, Reid, et al.
- 1992
|
|
2
|
Trajectory control of active vision systems
– Ferrier
- 1992
|
|
2
|
A 2-D Vision System for Real Time Gaze Control
– McLauchlan, Reid
- 1993
|
|
1
|
and contributors. Special issue on vision as intelligent behavior
– Nelson
- 1991
|
|
1
|
M ‘Design of stereo heads’, in A Blake and A Yuille teds). Acfive Vision
– McLauchlan, F, et al.
- 1992
|
|
1
|
CVGIP: lmuge Understanding. Vol 56 No I
– Nelson
- 1992
|
|
1
|
Vol 7 No I
– Vision
- 1991
|
|
1
|
pp 61-70 Brown, C M ‘Gaze control with interactions and delays
– Cybern
- 1990
|
|
1
|
Vol I7 (lY81) pp 1X5-203 Verri. A and Poggio. 7‘ ‘Motion field and optical flow: qualitative properties’, IEEE Trany. PAM/. Vol I I (IYXY) pp 4YO-40X Nelson, R C ‘Qualitative detection of motion by a moving observer‘, pp 33-46 Int
– Intell
- 1990
|
