This paper describes methods to track a user-defined point in the vision of a robot as it drives forward. This tracking allows a robot to keep itself directed at that point while driving so that it can get to that user-defined point. I develop and present two new multi-scale algorithms for tracking arbitrary points between two frames of video, as well as through a video sequence. The multi-scale algorithms do not use the traditional pyramid image, but instead use a data structure called an integral image (also known as a summed area table). The first algorithm uses edge-detection to track the movement of the tracking point between frames of video. The second algorithm uses a modified version of the Moravec operator to track the movement of the tracking point between frames of video. Both of these algorithms can track the user-specified point very quickly. Implemented on a conventional desktop, tracking can proceed at a rate of at least 20 frames per second.
College and Department
Physical and Mathematical Sciences; Computer Science
BYU ScholarsArchive Citation
Arthur, Richard B., "Vision-Based Human Directed Robot Guidance" (2004). All Theses and Dissertations. 190.
computer, machine vision, machine learning, video, point tracking, visual servoing, integral image, summed area table, minimal edit distance, Moravec operator