Model-based visual tracking: the OpenTL framework
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
Hoboken, NJ
Wiley
2011
|
| Schlagworte: | |
| Online-Zugang: | lizenzfrei Inhaltsverzeichnis |
| Beschreibung: | XIII, 302 S. Ill., graph. Darst. |
| ISBN: | 9780470876138 9780470943922 9780470943915 9781118002131 |
Internformat
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| 100 | 1 | |a Panin, Giorgio |e Verfasser |4 aut | |
| 245 | 1 | 0 | |a Model-based visual tracking |b the OpenTL framework |c Giorgio Panin |
| 246 | 1 | 0 | |a Open Tracking Library |
| 264 | 1 | |a Hoboken, NJ |b Wiley |c 2011 | |
| 300 | |a XIII, 302 S. |b Ill., graph. Darst. | ||
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Datensatz im Suchindex
| _version_ | 1804148596758544384 |
|---|---|
| adam_text | CONTENTS
PREFACE
xi
1
INTRODUCTION
1
1.1
Overview of the Problem
/ 2
1.1.1
Models
/ 3
1.1.2
Visual Processing
/ 5
1.1.3
Tracking
/ 6
1.2
General Tracking System Prototype
/ 6
1.3
The Tracking Pipeline
/ 8
2
MODEL REPRESENTATION
12
2.1
Camera Model
/ 13
2.1.1
Internal Camera Model
/ 13
2.1.2
Nonlinear Distortion
/ 16
2.1.3
External Camera Parameters
/ 17
2.1.4
Uncalibrated Models
/ 18
2.1.5
Camera Calibration
/ 20
2.2
Object Model
/ 26
2.2.1
Shape Model and Pose Parameters
/ 26
2.2.2
Appearance Model
/ 34
2.2.3
Learning an Active Shape or Appearance Model
/ 37
V¡
CONTENTS
2.3
Mapping Between Object and Sensor Spaces
/ 39
2.3.1
Forward Projection
/ 40
2.3.2
Back-Projection
/ 41
2.4
Object Dynamics
/ 43
2.4.1
Brownian Motion
/ 47
2.4.2
Constant Velocity
/ 49
2.4.3
Oscillatory Model
/ 49
2.4.4
State Updating Rules
/ 50
2.4.5
Learning
AR
Models
/ 52
3
THE VISUAL MODALITY ABSTRACTION
55
3.1
Preprocessing
/ 55
3.2
Sampling and Updating Reference Features
/ 57
3.3
Model Matching with the Image Data
/ 59
3.3.1
Pixel-Level Measurements
/ 62
3.3.2
Feature-Level Measurements
/ 64
3.3.3
Object-Level Measurements
/ 67
3.3.4
Handling Mutual Occlusions
/ 68
3.3.5
Multiresolution Processing for Improving Robustness
/ 70
3.4
Data Fusion Across Multiple Modalities and Cameras
/ 70
3.4.1 Multimodal
Fusion
/ 71
3.4.2
Multicamera Fusion
/ 71
3.4.3
Static and Dynamic Measurement Fusion
/ 72
3.4.4
Building a Visual Processing Tree
/ 77
4
EXAMPLES OF VISUAL MODALITIES
78
4.1
Color Statistics
/ 79
4.1.1
Color Spaces
/ 80
4.1.2
Representing Color Distributions
/ 85
4.1.3
Model-Based Color Matching
/ 89
4.1.4
Kernel-Based Segmentation and Tracking
/ 90
4.2
Background Subtraction
/ 93
¡
4.3
Blobs
/ 96
4.3.1
Shape Descriptors
/ 97
4.3.2
Blob Matching Using Variational Approaches
/ 104
4.4
Model Contours
/112
4.4.1
Intensity Edges
/114
4.4.2
Contour Lines
/ 119
4.4.3
Local Color Statistics
/ 122
CONTENTS VÜ
4.5 Keypoints / 126
4.5.1
Wide-Baseline Matching
/ 128
4.5.2
Harris Corners
/ 129
4.5.3
Scale-Invariant
Keypoints / 133
4.5.4
Matching Strategies for Invariant
Keypoints / 138
4.6
Motion
/ 140
4.6.1
Motion History Images
/ 140
4.6.2
Optical Flow
/ 142
4.7
Templates
/ 147
4.7.1
Pose Estimation with
AAM
/ 151
4.7.2
Pose Estimation with Mutual Information
/ 158
5
RECURSIVE STATE-SPACE ESTIMATION
162
5.1
Target-State Distribution
/ 163
5.2
MLE and MAP Estimation
/ 166
5.2.1
Least-Squares Estimation
/ 167
5.2.2
Robust Least-Squares Estimation
/ 168
5.3
Gaussian Filters
/ 172
5.3.1
Kalman
and Information Filters
/ 172
5.3.2
Extended
Kalman
and Information Filters
/ 173
5.3.3
Unscented
Kalman
and Information Filters
/ 176
5.4
Monte Carlo Filters
/ 180
5.4.1
SIR Particle Filter
/ 181
5.4.2
Partitioned Sampling
/ 185
5.4.3
Annealed Particle Filter
/ 187
5.4.4
MCMC Particle Filter
/ 189
5.5
Grid Filters
/ 192
6
EXAMPLES OF TARGET DETECTORS
197
6.1
Blob Clustering
/ 198
6.1.1
Localization with Three-Dimensional
Triangulation / 199
6.2
AdaBoost Classifiers
/ 202
6.2.1
AdaBoost Algorithm for Object Detection
/ 202
6.2.2
Example: Face Detection
/ 203
6.3
Geometric Hashing
/ 204
6.4
Monte Carlo Sampling
/ 208
6.5
Invariant Keypoints
/ 211
VÜi CONTENTS
7 BUILDING APPLICATIONS
WITH
OpenTL 214
7.1
Functional Architecture of OpenTL
/ 214
7.1.1
Multithreading Capabilities
/ 216
7.2
Building a Tutorial Application with OpenTL
/ 216
7.2.1
Setting the Camera Input and Video Output
/ 217
7.2.2
Pose Representation and Model Projection
/ 220
7.2.3
Shape and Appearance Model
/ 224
7.2.4
Setting the Color-Based Likelihood
/ 227
7.2.5
Setting the Particle Filter and Tracking the Object
/ 232
7.2.6
Tracking Multiple Targets
/ 235
7.2.7 Multimodal
Measurement Fusion
/ 237
7.3
Other Application Examples
/ 240
APPENDIX A: POSE ESTIMATION
251
A.I Point Correspondences
/251
A.I.I Geometric Error
/ 253
A.1.2 Algebraic Error
/ 253
A.1.3 2D-2D and 3D-3D Transforms
/ 254
A.1.4 DLT Approach for 3D-2D Projections
/ 256
A.2 Line Correspondences
/ 259
A.2.1 2D-2D Line Correspondences
/ 260
A.3 Point and Line Correspondences
/ 261
A.4 Computation of the
Projective DLT
Matrices
/ 262
APPENDIX B: POSE REPRESENTATION
265
B.I Poses Without Rotation
/ 265
B.I.I Pure Translation
/ 266
B.1.2 Translation and Uniform Scale
/ 267
B.1.3 Translation and
Nonuniform
Scale
/ 267
B.2 Parameterizing Rotations
/ 268
B.3 Poses with Rotation and Uniform Scale
/ 272
B.3.1 Similarity
/ 272
B.3.2 Rotation and Uniform Scale
/ 273
B.3.3 Euclidean (Rigid Body) Transform
/ 274
B.3.4 Pure Rotation
/ 274
B.4 Affinity
/ 275
CONTENTS
ІХ
B.5
Poses with Rotation and
Nonuniform
Scale
/ 277
B.6 General Homography: The DLT Algorithm
/ 278
NOMENCLATURE
281
BIBLIOGRAPHY
285
INDEX
295
|
| any_adam_object | 1 |
| author | Panin, Giorgio |
| author_facet | Panin, Giorgio |
| author_role | aut |
| author_sort | Panin, Giorgio |
| author_variant | g p gp |
| building | Verbundindex |
| bvnumber | BV039718904 |
| classification_rvk | ST 278 |
| classification_tum | DAT 760f |
| ctrlnum | (OCoLC)740944105 (DE-599)GBV634296051 |
| dewey-full | 006.3/7 |
| dewey-hundreds | 000 - Computer science, information, general works |
| dewey-ones | 006 - Special computer methods |
| dewey-raw | 006.3/7 |
| dewey-search | 006.3/7 |
| dewey-sort | 16.3 17 |
| dewey-tens | 000 - Computer science, information, general works |
| discipline | Informatik |
| format | Book |
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| isbn | 9780470876138 9780470943922 9780470943915 9781118002131 |
| language | English |
| lccn | 2010033315 |
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| spelling | Panin, Giorgio Verfasser aut Model-based visual tracking the OpenTL framework Giorgio Panin Open Tracking Library Hoboken, NJ Wiley 2011 XIII, 302 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier Framework Informatik (DE-588)4464685-9 gnd rswk-swf Objektverfolgung (DE-588)4311226-2 gnd rswk-swf 1\p (DE-588)4113937-9 Hochschulschrift gnd-content Objektverfolgung (DE-588)4311226-2 s Framework Informatik (DE-588)4464685-9 s 2\p DE-604 http://www.gbv.de/dms/ilmenau/toc/634296051.PDF lizenzfrei Inhaltsverzeichnis Digitalisierung UB Regensburg application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=024567047&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis 1\p cgwrk 20201028 DE-101 https://d-nb.info/provenance/plan#cgwrk 2\p cgwrk 20201028 DE-101 https://d-nb.info/provenance/plan#cgwrk |
| spellingShingle | Panin, Giorgio Model-based visual tracking the OpenTL framework Framework Informatik (DE-588)4464685-9 gnd Objektverfolgung (DE-588)4311226-2 gnd |
| subject_GND | (DE-588)4464685-9 (DE-588)4311226-2 (DE-588)4113937-9 |
| title | Model-based visual tracking the OpenTL framework |
| title_alt | Open Tracking Library |
| title_auth | Model-based visual tracking the OpenTL framework |
| title_exact_search | Model-based visual tracking the OpenTL framework |
| title_full | Model-based visual tracking the OpenTL framework Giorgio Panin |
| title_fullStr | Model-based visual tracking the OpenTL framework Giorgio Panin |
| title_full_unstemmed | Model-based visual tracking the OpenTL framework Giorgio Panin |
| title_short | Model-based visual tracking |
| title_sort | model based visual tracking the opentl framework |
| title_sub | the OpenTL framework |
| topic | Framework Informatik (DE-588)4464685-9 gnd Objektverfolgung (DE-588)4311226-2 gnd |
| topic_facet | Framework Informatik Objektverfolgung Hochschulschrift |
| url | http://www.gbv.de/dms/ilmenau/toc/634296051.PDF http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=024567047&sequence=000002&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT paningiorgio modelbasedvisualtrackingtheopentlframework AT paningiorgio opentrackinglibrary |