Detection and tracking of independent motion

摘要

We describe an efficient method of using a translating camera to detect and track independently translating objects and assess the likelihood of a collision. By analysing the underlying geometry, it is shown that the tracking is reduced to two independent linear searches for a single feature in the image plane. Results are presented for both an off-line and a real time implementation using no special hardware. The method is completely automatic and shown to be accurate and robust.