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Sensors 2017, 17(4), 735;

Tracking a Non-Cooperative Target Using Real-Time Stereovision-Based Control: An Experimental Study

Department of Aerospace Engineering, Technion—Israel Institute of Technology, Haifa 32000, Israel
Author to whom correspondence should be addressed.
Academic Editor: Joonki Paik
Received: 14 February 2017 / Revised: 23 March 2017 / Accepted: 28 March 2017 / Published: 31 March 2017
(This article belongs to the Special Issue Video Analysis and Tracking Using State-of-the-Art Sensors)
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Tracking a non-cooperative target is a challenge, because in unfamiliar environments most targets are unknown and unspecified. Stereovision is suited to deal with this issue, because it allows to passively scan large areas and estimate the relative position, velocity and shape of objects. This research is an experimental effort aimed at developing, implementing and evaluating a real-time non-cooperative target tracking methods using stereovision measurements only. A computer-vision feature detection and matching algorithm was developed in order to identify and locate the target in the captured images. Three different filters were designed for estimating the relative position and velocity, and their performance was compared. A line-of-sight control algorithm was used for the purpose of keeping the target within the field-of-view. Extensive analytical and numerical investigations were conducted on the multi-view stereo projection equations and their solutions, which were used to initialize the different filters. This research shows, using an experimental and numerical evaluation, the benefits of using the unscented Kalman filter and the total least squares technique in the stereovision-based tracking problem. These findings offer a general and more accurate method for solving the static and dynamic stereovision triangulation problems and the concomitant line-of-sight control. View Full-Text
Keywords: tracking; stereovision; real-time control tracking; stereovision; real-time control

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Shtark, T.; Gurfil, P. Tracking a Non-Cooperative Target Using Real-Time Stereovision-Based Control: An Experimental Study. Sensors 2017, 17, 735.

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