@article{ref1,
title="Real-time feature matching in image sequences for non-structured environments. applications to vehicle guidance",
journal="Journal of intelligent and robotic systems",
year="2000",
author="Ferruz, Joaquín and Ollero, Anibal",
volume="28",
number="1-2",
pages="85-123",
abstract="This paper describes an integrated vehicle control system with visual feedback. A general-purpose, low-level feature matching method, able to work in real time without any strict assumptions on the environment structure or camera parameters, generates low-level matching results, which are used as source of data for applications like mobile object tracking, among others. A generalized predictive path-tracking control approach keeps the vehicle on the trajectory defined by the moving target. In the low-level matching process, block-based features (windows) are selected and tracked along a stream of monocular images; least residual square error and similarity between clusters of features are used as constraints to select the right matching pair between multiple candidates. Real-time performance is achieved through optimized algorithms and a parallel DSP-based multiprocessor system implementation. Object detection and tracking is motion-based, and does not require a predefined model of the target. The integrated control system has been tested on the ROMEO-3R experimental vehicle.<p /><p>Language: en</p>",
language="en",
issn="0921-0296",
doi="10.1023/A:1008163332131",
url="http://dx.doi.org/10.1023/A:1008163332131"
}