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Keeping Multiple Moving Targets in the Field of View of a Mobile Camera

机译：在移动相机的视野中保持多个移动目标

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摘要

This study introduces a novel visual servo controller that is designed to control the pose of the camera to keep multiple objects in the field of view (FOV) of a mobile camera. In contrast with other visual servo methods, the control objective is not formulated in terms of a goal pose or a goal image. Rather, a set of underdetermined task functions are developed to regulate the mean and variance of a set of image features. Regulating these task functions inhibits feature points from leaving the camera FOV. An additional task function is used to maintain a high level of motion perceptibility, which ensures that desired feature point velocities can be achieved. These task functions are mapped to camera velocity, which serves as the system input. A proof of stability is presented for tracking three or fewer targets. Experiments of tracking eight or more targets have verified the performance of the proposed method.
机译：这项研究介绍了一种新颖的视觉伺服控制器，该控制器旨在控制摄像机的姿势，以将多个对象保持在移动摄像机的视场（FOV）中。与其他视觉伺服方法相反，控制目标不是根据目标姿势或目标图像制定的。而是，开发了一组未确定的任务函数，以调节一组图像特征的均值和方差。调节这些任务功能可防止特征点离开摄像机视野。附加的任务功能用于保持较高的运动感知度，从而确保可以实现所需的特征点速度。这些任务功能被映射到摄像机速度，作为系统输入。提出了用于跟踪三个或更少目标的稳定性证明。跟踪八个或更多目标的实验已验证了该方法的性能。

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