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Active tracking of foveated feature clusters using affine structure

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Abstract

We describe a novel method of obtaining a fixation point on a moving object for a real-time gaze control system. The method makes use of a real-time implementation of a corner detector and tracker and reconstructs the image position of the desired fixation point from a cluster of corners detected on the object using the affine structure available from two or three views. The method is fast, reliable, viewpoint invariant, and insensitive to occlusion and/or individual corner dropout or reappearance. We compare two- and three-dimensional forms of the algorithm, present results for the method in use with a high performance head/eye platform, and compare the results with two naive fixation methods.

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Authors and Affiliations

  1. Department of Engineering Science, University of Oxford, Parks Road, OX1 3PJ, Oxford, UK

    I. D. Reid & D. W. Murray

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  1. I. D. Reid
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  2. D. W. Murray
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Reid, I.D., Murray, D.W. Active tracking of foveated feature clusters using affine structure. Int J Comput Vision 18, 41–60 (1996). https://doi.org/10.1007/BF00126139

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  • DOI: https://doi.org/10.1007/BF00126139

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