Image-based visual tracking for moving targets with active stereo vision robot

Abstract

The paper proposes a novel method of visual tracking for moving object without camera calibration. An active stereo vision robot tracks a moving target with image-based visual tracking. The target velocity in the 3D workspace is estimated in the camera coordinate frame, and the estimation contributes to the suppression of tracking delay, so that no steady-state error is achieved in visual tracking. The tracking delay is fully suppressed, less than 10 [pixel], and then the camera calibration is theoretically and experimentally eliminated in the proposed method. The validity of the proposed approach is confirmed in the physical experimental results