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image 1
image 50
image 100
image 180
Fig. 8.5 Images from the Corkes sequence. The quadrilateral represents the tracked area.
The visual tracking is correctly performed in real-time. However, the noise in the images and
modeling errors affect the accuracy of the measured homographies
Figures 8.3 and 8.4 illustrate the instability of the critical points. In this simula-
tion, the initial estimation error for the homography matrix is chosen at a critical
point. The velocity estimate is again set to zero. Figure 8.3 shows that the criti-
cal point is unstable: a small noise allows the estimated homography to converge
towards the measured homography. Figure 8.4 shows that the estimated velocity
converges towards the true velocity.
8.5
Experiments with Real Data
In this section, we present results obtained with real data. In the first image the
user selects a rectangular area of interest. The homographies that transform the
area of interest in the current image are measured using the efficient second order
minimization (ESM) visual tracking software 2
[1]. Figure 8.5 shows four images
2
Available for download at http://esm.gforge.inria.fr.
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