<title>Convergence control of a moving object using hierarchical algorithms in a stereo vision system</title>

Abstract

In this paper, a new stereo tracking system using the hierarchical opto-digital algorithms is proposed and implemented. In the proposed method, a moving target object is initially extracted from the input image by removing the background noises by applying the region-based SAD algorithm to the sequential left image. And then, the location coordinates of the moving target for each of the sequential input frames are extracted through performing the optical BPEJTC between the reference image of the extracted target object and the stereo input image. These extracted coordinate values are finally used for controlling the convergence angle and the pan/tilt embedded to the conventional stereo target tracking system. From some experimental results with the 20 frames of the stereo input image pairs, the proposed system is found to be able to effectively extract the area where the target object is located from the stereo input image regardless of the background noises. With the location values of the tracking object obtained from the execution of the optical BPEJTC, the convergence angle and the pan/tilt of the stereo cameras are found to be successfully controlled. Therefore, in this paper, a feasibility test for implementing the stereo tele-working system or the stereo robot vision system using the proposed algorithm is suggested.