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1、Proceedingsofthe2001IEEEInternationalConferenceonRobotics&AutomationSeoul,Korea-May21-26,2001RobustView-basedVisualTrackingwithDetectionofOcclusionsKenItoShigeyukiSakaneDepartmentofIndustrialandSystemsEngineeringChuoUniversity1-13-27Kasuga,Bunkyo-ku,Tokyo,112-8
2、551JAPANE-mail:{kenit0,sakane)@indsys.chuo-u.ac.jpAbstractondistheregion-basedmethod.Thisapproachcanbesubclassifiedintotwocategories:theparametricVisualtrackingplaysanimportantroleinvariousmethodwhichassumesaparametricmodelofchangesrobotictasks.Wehavedevelopeda
3、view-basedvisualinthetargetimageandcalculatesoptimalfittingoftrackingsystem.tocopewithchangeoftheappear-themodeltopixeldatainaregion[l]and(2)theanceofthetem.plateina30environmentusingafineview-basedmethodtofindthebestmatchofaregionintransform.edtemplates.Inview
4、-basedvisualtracking,asearchareawithareferencetemplate[3].Inthispa-however,therearestillcriticalsituationsinwhichtheper,wetaketheview-basedapproachforvisualtrack-trackingfailsbecauseofocclusionbygeneralobjectsing[4].Theapproachhastheadvantagesthatitdoesand/orh,
5、umanhandintheenvironment,particularlynotneedcomplexcalculationanditissuitablesystemincaseswherehumansandrobotsperformcooperativeimplementationusingimageprocessinghardwareforhandlingofobjects.Thispaperpresentstwometh-realtimecorrelation.Therefore,theview-basedap
6、-odstocopewithsuchocclusionproblems.Thefirstproachisadequateforrobotvisionapplications.methoddetectstheocclusionbasedonanevaluationAlthoughview-basedvisualtrackingisusefulforofcorrelationerrorsinatessellatedtemplate.Thevariousrobotictasks,ithasseveralcriticalpr
7、oblems:secondmethodusesinfraredimagestodetecttheoc-changeofappearancecausedbygeometricrelationbe-cludedregionbyhumanhandinthetargettemplate.tweenatargetobjectandthesensingcameraintheThesystemthencreatesamaskoftheoccludedre-3Denvironment,occlusionscausedbymultip
8、leobjectsgionandeliminatespixelsinthemaskfromthecal-includingthehumanoperatorandilluminationchangeculationofcorrelationwiththetemplateimage.Inforavarietyoflightsources.thepr
