Attentive visual tracking and trajectory estimation for dynamic scene segmentation
Jonathan M. Roberts · 1994
FACULTY OF ENGINEERING AND APPLIED SCIENCE ELECTRONICS AND COMPUTER SCIENCE Doctor of Philosophy ATTENTIVE VISUAL TRACKING AND TRAJECTORY ESTIMATION FOR DYNAMIC SCENE SEGMENTATION by Jonathan Michael Roberts Intelligent Co-Pilot Systems (ICPS) offer the next challenge to vehicle-highway automation. The key to ICPSs is the detection of moving objects (other vehicles) from the moving observer using a visual sensor. The aim of the work presented in this thesis was to design and implement a feature detection and tracking strategy that is capable of tracking image features independently, in parallel, and in real-time and to cluster/segment features utilising the inherent temporal information contained within feature trajectories. Most images contain areas that are of little or no interest to vision tasks. An attentive, data-driven, approach to feature detection and tracking is proposed which aims to increase the efficiency of feature detection and tracking by focusing attention onto relevan...