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Hu S, Jiang M, Takaki T, Ishii I. Real-Time Monocular Three-Dimensional Motion Tracking Using a Multithread Active Vision System. JOURNAL OF ROBOTICS AND MECHATRONICS 2018. [DOI: 10.20965/jrm.2018.p0453] [Citation(s) in RCA: 10] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Abstract
In this study, we developed a monocular stereo tracking system to be used as a marker-based, three-dimensional (3-D) motion capture system. This system aims to localize dozens of markers on multiple moving objects in real time by switching five hundred different views in 1 s. The ultrafast mirror-drive active vision used in our catadioptric stereo tracking system can accelerate a series of operations for multithread gaze control with video shooting, computation, and actuation within 2 ms. By switching between five hundred different views in 1 s, with real-time video processing for marker extraction, our system can function asJvirtual left and right pan-tilt tracking cameras, operating at 250/Jfps to simultaneously capture and processJpairs of 512 × 512 stereo images with different views via the catadioptric mirror system. We conducted several real-time 3-D motion experiments to capture multiple fast-moving objects with markers. The results demonstrated the effectiveness of our monocular 3-D motion tracking system.
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