Voting Based Visual Cue Integration
|
Traditionally, fusion of visual information for tracking has
been based on explicit models for uncertainty and integra-tion.
Most of the proposed approaches use some form of
Bayesian statistics, where strong models are employed. In
this paper, we argue that for cases where a large number of
visual features are available, it is possible to use weak models
for integration. In particular, integration using voting
based methods is analyzed. Two methods are proposed and
experimentally evaluated: i) response fusion and ii) action
fusion. The proposed methods differ in the choice of the underlying
voting space: the former method integrates the visual
information directly in the image space, while the latter
represents the information in a velocity space. The emphasis
is also put on the evaluation of four different weighting
techniques and their impact on the overall performance of
the proposed tracking system.
Details
Related Publications
|
Cue Integration for Visual Servoing
(Danica Kragic, Henrik I Christensen)
IEEE Transactions on Robotics and Automation, vol. 17(1), February, 2001.
|
|
Active Visual Tracking of An End-Effector: Integration of Various Cues
(Danica Kragic and Henrik I. Christensen)
In M. Vincze and G.D. Hager (Eds.),
Robust Vision for Vision-Based Control of Motion ,
IEEE ISBN 0780353781, February 2000.
|
|
Integration of visual cues
for active tracking of an end--effector
(Danica Kragic and Henrik I. Christensen)
In IEEE/RSJ International Conference on
Intelligent Robots and Systems, 1999. IROS'99,
vol 1, pp 362-268, October 1999.
Kyongju, Korea
|
Back to research