TY  - JOUR
PY  - 2000//
TI  - Real-time feature matching in image sequences for non-structured environments. applications to vehicle guidance
JO  - Journal of intelligent and robotic systems
A1  - Ferruz, Joaquín
A1  - Ollero, Anibal
SP  - 85
EP  - 123
VL  - 28
IS  - 1-2
N2  - 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>
LA  - en
SN  - 0921-0296
UR  - http://dx.doi.org/10.1023/A:1008163332131
ID  - ref1
ER  -