Analysis of sensor movement errors in monocular vision-based tracking systems

W. Sohn; N. Kehtarnavaz

doi:10.1109/IAI.1994.336678

Analysis of sensor movement errors in monocular vision-based tracking systems

W. Sohn
, N. Kehtarnavaz

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

When a vision sensor is used to track an object in an outdoor realistic navigational environment, it is subjected to unexpected movements or vibrations of the mounting platform. In this paper, the performance of such a setup in terms of range and heading angle errors is studied. The noise generated by the navigational environment is represented in two ways: sensor rotation angle errors and image coordinates errors. A consistent detectable region is obtained such that the tracked object is always seen by the sensor. Based on this region, a reliable region consisting of no singularity points is defined so that the range error does not become infinity. The optimum values of a controllable subspace, consisting of the object height and depression angle, with respect to an uncontrollable subspace, consisting of object coordinates and sensor movement errors, are then found by employing the mini-max estimator for the worst case performance and the minimum mean-squared estimator for the average performance.

Original language	English
Title of host publication	Proceedings of the IEEE Southwest Symposium on Image Analysis and Interpretation, IAI 1994
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	30-35
Number of pages	6
ISBN (Electronic)	0818662506
DOIs	https://doi.org/10.1109/IAI.1994.336678
Publication status	Published - 1995
Event	1995 IEEE Southwest Symposium on Image Analysis and Interpretation, IAI 1994 - Dallas, United States Duration: 21 Apr 1994 → 24 Apr 1994

Publication series

Name	Proceedings of the IEEE Southwest Symposium on Image Analysis and Interpretation

Conference

Conference	1995 IEEE Southwest Symposium on Image Analysis and Interpretation, IAI 1994
Country/Territory	United States
City	Dallas
Period	21/04/94 → 24/04/94

Bibliographical note

Publisher Copyright:
© 1994 IEEE.

Access to Document

10.1109/IAI.1994.336678

Cite this

Sohn, W., & Kehtarnavaz, N. (1995). Analysis of sensor movement errors in monocular vision-based tracking systems. In Proceedings of the IEEE Southwest Symposium on Image Analysis and Interpretation, IAI 1994 (pp. 30-35). Article 336678 (Proceedings of the IEEE Southwest Symposium on Image Analysis and Interpretation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IAI.1994.336678

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title = "Analysis of sensor movement errors in monocular vision-based tracking systems",

abstract = "When a vision sensor is used to track an object in an outdoor realistic navigational environment, it is subjected to unexpected movements or vibrations of the mounting platform. In this paper, the performance of such a setup in terms of range and heading angle errors is studied. The noise generated by the navigational environment is represented in two ways: sensor rotation angle errors and image coordinates errors. A consistent detectable region is obtained such that the tracked object is always seen by the sensor. Based on this region, a reliable region consisting of no singularity points is defined so that the range error does not become infinity. The optimum values of a controllable subspace, consisting of the object height and depression angle, with respect to an uncontrollable subspace, consisting of object coordinates and sensor movement errors, are then found by employing the mini-max estimator for the worst case performance and the minimum mean-squared estimator for the average performance.",

author = "W. Sohn and N. Kehtarnavaz",

note = "Publisher Copyright: {\textcopyright} 1994 IEEE.; 1995 IEEE Southwest Symposium on Image Analysis and Interpretation, IAI 1994 ; Conference date: 21-04-1994 Through 24-04-1994",

year = "1995",

doi = "10.1109/IAI.1994.336678",

language = "English",

series = "Proceedings of the IEEE Southwest Symposium on Image Analysis and Interpretation",

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booktitle = "Proceedings of the IEEE Southwest Symposium on Image Analysis and Interpretation, IAI 1994",

address = "United States",

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Sohn, W & Kehtarnavaz, N 1995, Analysis of sensor movement errors in monocular vision-based tracking systems. in Proceedings of the IEEE Southwest Symposium on Image Analysis and Interpretation, IAI 1994., 336678, Proceedings of the IEEE Southwest Symposium on Image Analysis and Interpretation, Institute of Electrical and Electronics Engineers Inc., pp. 30-35, 1995 IEEE Southwest Symposium on Image Analysis and Interpretation, IAI 1994, Dallas, United States, 21/04/94. https://doi.org/10.1109/IAI.1994.336678

Analysis of sensor movement errors in monocular vision-based tracking systems. / Sohn, W.; Kehtarnavaz, N.
Proceedings of the IEEE Southwest Symposium on Image Analysis and Interpretation, IAI 1994. Institute of Electrical and Electronics Engineers Inc., 1995. p. 30-35 336678 (Proceedings of the IEEE Southwest Symposium on Image Analysis and Interpretation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - When a vision sensor is used to track an object in an outdoor realistic navigational environment, it is subjected to unexpected movements or vibrations of the mounting platform. In this paper, the performance of such a setup in terms of range and heading angle errors is studied. The noise generated by the navigational environment is represented in two ways: sensor rotation angle errors and image coordinates errors. A consistent detectable region is obtained such that the tracked object is always seen by the sensor. Based on this region, a reliable region consisting of no singularity points is defined so that the range error does not become infinity. The optimum values of a controllable subspace, consisting of the object height and depression angle, with respect to an uncontrollable subspace, consisting of object coordinates and sensor movement errors, are then found by employing the mini-max estimator for the worst case performance and the minimum mean-squared estimator for the average performance.

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M3 - Conference contribution

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BT - Proceedings of the IEEE Southwest Symposium on Image Analysis and Interpretation, IAI 1994

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Sohn W, Kehtarnavaz N. Analysis of sensor movement errors in monocular vision-based tracking systems. In Proceedings of the IEEE Southwest Symposium on Image Analysis and Interpretation, IAI 1994. Institute of Electrical and Electronics Engineers Inc. 1995. p. 30-35. 336678. (Proceedings of the IEEE Southwest Symposium on Image Analysis and Interpretation). doi: 10.1109/IAI.1994.336678

Analysis of sensor movement errors in monocular vision-based tracking systems

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