Target tracking Module

Current bugs or problems

• Tracker fails to detect beyond 75 inches.

How to execute this module

1. Log on to Owl
2. Make sure frameServer is running
3. cd to /home/hhg_owl/demo/ directory
4. run target -s -t 160

Revision history

• Exported code to linux. Modified code to acknowldege the image size of the ImageNation framegrabber for distance and angle computations. January, 1996.
• Added pixel filtering. January, 1996.
• September, 1997 : New tracker software written by Carlo Tomasi. This tracker is capable of tracking both the distance and the the orientation of the target from the camera.
• October, 1997 : Fixed bugs in tracker which loose track of target in some specific range target orientations.

Ideas for improvement

• Use XVision library to track edges and corners to remove the ugly hat thingy.
• Increase resolution for the distance, especially for distances over 80 inches.
• Rather than straight down scanning of the pattern boundry, if scanning with a particular angle is allowed, it would dramatically increase the tracking distance.

Other comments

• -filter N averages the last N measurements to compute the output. Hard coded default is three.
• If at any time a new framegrabber is used, you should go to the header file and modify some constants related with frame size.
• Currently, the tracker is unable to locate patterns further than about 75 inches from the camera.