Robust real-time visual servo for fish tracking

Chi-Cheng Cheng; Chia-Wei Lin

doi:10.1117/12.2064416

16 April 2014 Robust real-time visual servo for fish tracking

Chi-Cheng Cheng, Chia-Wei Lin

Proceedings Volume 9159, Sixth International Conference on Digital Image Processing (ICDIP 2014); 91591M (2014) https://doi.org/10.1117/12.2064416
Event: Sixth International Conference on Digital Image Processing, 2014, Athens, Greece

Abstract

This paper presents a robust real-time visual fish tracking system. The proposed visual servo framework is able to track a deformed target and maintain the target always inside the field of view. For the image processing, an efficient template matching and searching method using the mean-shift theory is developed. The robustness is achieved by appending the ratio histogram, a kernel function, and the template update to the framework when the target is deformed. Experimental results show that the presented scheme works successfully for real-time fish tracking missions. The visual tracking task can also be accomplished even when a similar object crosses over the target.

Citation Download Citation

Chi-Cheng Cheng and Chia-Wei Lin "Robust real-time visual servo for fish tracking", Proc. SPIE 9159, Sixth International Conference on Digital Image Processing (ICDIP 2014), 91591M (16 April 2014); https://doi.org/10.1117/12.2064416

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KEYWORDS

Optical tracking

Servomechanisms

Visualization

Image processing

Algorithm development

Detection and tracking algorithms

Cameras

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