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Visual target tracking in the presence of unknown observer motion

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dc.contributor.author Williams, Stephen
dc.contributor.author Lu, Thomas
dc.date.accessioned 2014-08-07T21:37:55Z
dc.date.available 2014-08-07T21:37:55Z
dc.date.issued 2009-04-13
dc.identifier.citation SPIE Defense, Security and Sensing, Orlando, Florida, April 13-17, 2009 en_US
dc.identifier.clearanceno 09-1004
dc.identifier.uri http://hdl.handle.net/2014/44628
dc.description.abstract Much attention has been given to the visual tracking problem due to its obvious uses in military surveillance. However, visual tracking is complicated by the presence of motion of the observer in addition to the target motion, especially when the image changes caused by the observer motion are large compared to those caused by the target motion. Techniques for estimating the motion of the observer based on image registration techniques and Kalman filtering are presented and simulated. With the effects of the observer motion removed, an additional phase is implemented to track individual targets. This tracking method is demonstrated on an image stream from a buoy-mounted or periscope-mounted camera, where large inter-frame displacements are present due to the wave action on the camera. This system has been shown to be effective at tracking and predicting the global position of a planar vehicle (boat) being observed from a single, out-of-plane camera. Finally, the tracking system has been extended to a multi-target scenario. en_US
dc.description.sponsorship NASA/JPL en_US
dc.language.iso en_US en_US
dc.publisher Pasadena, CA : Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2009 en_US
dc.subject kalman filter en_US
dc.subject image mosaic en_US
dc.title Visual target tracking in the presence of unknown observer motion en_US
dc.type Presentation en_US


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