Token tracking in a cluttered scene
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Texte intégral
(2) INSTITUT NATIONAL DE RECHERCHE EN INFORMATIQUE ET EN AUTOMATIQUE. Token Tracking in a Cluttered Scene Zhengyou Zhang. N˚ 2072 Octobre 1993. PROGRAMME 4. Robotique, image et vision. ISSN 0249-6399. apport de recherche. 1993.
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(6) ! "#$% (& ' )+* ,.-0/213&('(45* , 687:9<;<7>=@?A?ABDCFEHG9<IJ9<KMLON<P0B<QRLS?T=+;<BUBVKW5LYXZL[95\ 6#7:95]ZBVKG95I 9<K:W5LOX G=+^0^J9<7:K_.B7:Ba`:b0BV7`:b0BU\c2d<egfhd%E i`K:9<I07jBAkal<l<m%End@CA^ =+;<BaX. Unite´ de recherche INRIA Sophia-Antipolis 2004 route des Lucioles, BP 93, 06902 SOPHIA-ANTIPOLIS Cedex (France) Te´le´phone : (33) 93 65 77 77 – Te´le´copie : (33) 93 65 77 65.
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(268) 5 LSBV7aQJ?T=+K>`jb _.BVK:Ba`KMLS9<\ ?T=8[= = L 5C= 7:9<? KMLS?ABK:9FKMLS?AB = 957$= \2P0?FI BV7D9#= 7:Ba=<XM95\ XB " \ Kjb.LYX`V=<XMB<Q.LSKD?ABa=+\ XK:b =@K . ! . . . 3b2P X Q L =%=@KKMLS?AB 2 !. \09 ?T=+K>`jb LOX = 9<P0\ _ Q K:b0B[N KIJBVK H BVBV\ K:b0B ^07:Ba_5LO`KMLS9<\ =+\ _ K:b0BA9<I XMBV7jWh=+KMLS9<\ LYX%\09<KW<BV7G8;<9.9g_RB" P0K\095K:BFK:b =+KBVW<BV\ LS\ K:b =+K`V=<XMB H BF?T=8 XMKML 5 5!b =aW5B ! 3 =+\ _K:b0BF^07:90`BaX:X LS\0; 9 =!K:b0BFK:9 P5BV\ H L 5 5 `9<\.KMLS\2P0BBC3b.LOX=5 5S9 H X P XK:9T`9<^JB H LSK:b ^07j9<I 5SBV?TXX P `:b =<X$9g`VT` 5SP X LS9<\(Q _5LOX:=+^0^ Ba=@7>=+\ `BA=+\ _ =+I XMBV\ `B B iS= `9<P07>XMBUL =K:b0B h =+b = 5O=+\09<I.LOX_5LOXMK>=@\ `BaXXMK>= 8 9+W<BV7K:b0BFK:b07jBaXMb09 5O_ =@KK:9.9 ?T=+\ 8 `9<\ XMBa`P0KMLSW<BUKMLS?ABLS\ XMK=+\2KXVQ5L B B BSQ5 L =#K:b0BK:Z9 P<BV\ _.9.BaX\09<KK N \ _ =+\ 8A;<9.90_ ?T=+K>`jbALS\ K:b0B X:`BV\0BK:9.9D9 = KjBV\(QVK:b0BV\ ! H L 5 5 ;<9IJB 8<9<\ _%K:b0BK:b07:BaXMb09 5O_ (Q =+\ _UK:b0B!K:Z9 P<BV\ H L 5 5 I BT_5LOX:`V=+7_.Ba_ Q(=<X!B F0^ Ba`KjBaR_ B'" =K:b0BFK:9 P<BV\b =<XD\09<EK = 95P0\ _ =@;\ 8 `9<7j7:BaXM^ 95\ _.BV\ `BaX L[\ m = 5S9<\0; KMLS?AB K:b0BV\ LSK LYX IJ9<P0\ _ BLSK:b0BV7 K:9 I B K:b0B7:BaXMP 5SK 9 = l = = = 5YX B ? =+K>`jb K:b =+KFb =+^0^ BV\0Ba_ LS\3K:b0BT^ =5XMKF9<7K:9 b = W<B _5LOX:=+^0^ Ba=@7:BaX _ = 7:9<? K:b0B Xj`BV\0B B3" \39<P07 L[? ^ 5[BV? BV\2K>=@KMLS9<\ H BXMBVK ! , H b0BV7:B , &k d%L[\ `V=5XMB9 =#\09A?T=+K>`jCb B ?FP XMK I Y B 5O=+7:;<BV7AKjb =+\ kI Ba`V=+P X B \09 ?T=+K>`jb LO[X = 9<P0\ _ H LSK:b.LS\K:b0B K:b07jBaXMb09 5O_ BS3b0B I.L[;5;<BV7K:b0BW+= 5SP0B9 = LOXVQRK:b0B = =<XMKjBV7 =Kj9 P<BV\ H L 5 5 I B_5LYXj`V=+7>_.Ba_ L = LSK`V=+\0\09<KK N \ _ =+;\ 8 ?T=+K`:b =+KXMBVW5BV7>= 5 `9<\ X Ba`P0KMLSW<BKMLS?ABDLS\ XMK=+\2KX B . . . . . . .
(269)
(270)
(271) !#"$ ! %. &.
(272) . '+" * 0 " ' " 2#". . . \ K:b0B I Ba=+?6 X Ba=+7>`jb =+^0^07:92=5`:b(Q= K:9ZP<BV\ `V=+\I B3XM^5 LSKaQBa=5`:b IJBLS\0; P0^ _0=+K:Ba_ P X LS\0; =Xj`BV\0BK:9ZP<BV\AX:=+KMLOX= 8<LS\0;UK:b0B h =+b =5O=+\09<I.LOX _5LYX K>=+\ `BBJi\AK:b0B95K:b0BV7#b =+\ _ Q =3X:`BV\0B K:9P5BV\ `V=+\I B P XMBa_ K:93P0^ _0=+KjB X BVW<BV7>=5K:9P<BV\ X IJBLS\0; K:7>=5`GP<Ba_RBS3b.LOX 9g`V`P07>X KQ = 9<7 !B F =+?A^ 5SB<Q H b0BV\ = K:Z9 P<BV\ XM^5 L[KX LS\2Kj9 K H 9 BB ;BSQ K H 9l= 7>=5`KMLS9<\ X 9= = 5 LS\0B XMBV;<?ABV\.K =+7jBA9<I XMBV7:W5Ba _
(273) =+\ _ K:b0BV\ IJ9<K:b \0B H K:9 P5BV\ X=+7:B P0^ _0=+K:Ba_ H LSK:b LY_.BV\.KMLO`V= 5XMP0I XMBaN5P0BV\2KAX:`BV\0BAKj9 P<BV\ X BR3b.LOXDLS?A^ 5 LSBaXFK:b =+KKjb0B X K>=+K:BFBaXMKMLS?T=@K:BaXD9 = K H 9D9<7 ?A9<7:B K:9 P<BV\ XK:9 P<BV\ X ? = 8IJBX LS?F L 5Y=@7aQ2=+\ _%LSK LOiX 5 IL P5!B 5I8 K:b =+K K:b0B 87:BV^07:BaXMBV\.K K:b0BX:=+?AB#K:Z9 P<BVC\ B \ B `V=+\FK:b.P X0]MP XMK 7:BVK>= LS\U9<\0BK:9 P<BV\=+\ _F_5LOX:`V=+7_Kjb0B!7:Ba_.P0\ _0=+\.K 9<\0BaXB ". . ) D. F:. . jM
(274). .
(275)
(276). *.
(277) . XMBF9=K:b0BAXMP0^0^ 957:K9=!B!F.LYX K:BV\ `BT_.9.BaX^07:BVW<BV\.KDK:b0BA=5S;<9<7MLSK:b0? = 7:9<? = `9<?A^0P76 K>=+KMLS9<\ =5B!Fg^5S92XZL[95\CB 9 H BVW<BV7aQJLSKULOXF\09<KUB!L `jLSBV\2KABV\095P0;<b IJBa`V=+P XMB H BA\0BVBa_ K:9 ^07:9g`BaXjX =K:Z9 P<BV\ 7jBaXMP 5SK:Bam _ = 7j9<? ^07:BVW5LS9<P <X = = 5OXMB ?T=+K>`jb0BaXF_.P07MLS\0 ; = 95P079<7F?A9<7jB = 7>=@?ABaXIJ!B = 957:BFLSKDLOX_5LYXj`V=+7>_.BaR _ B'" KDLOXD9 = ?FP `jb IJBV\0!B N K L = H BA`V=+\ 7:BaXM19 5[W5B ? =+K>`jb =+?FI.L[;5P.L[K L[BaXD=<X Ba=+
(278) 7 598 =<X ^ 92XjX LSI 5[B BR3b.LOXXMBa`K L[95\ _.BaX:`7MLSI BaXK H 9FXMK:7>=@K:BV;+LSBaX H b.LO`:b 7:Ba_.P `B K:b0B ?T=+K`:b =@? I.LS;<P.LS
(279) K 83=+\ _ Kjb2P XU7:Ba_.P `BK:b0BT\.P0?FI BV7A19 =$Kj9 P<BV\ XUK:9 I B ^07:9g`BaXjXMBa_RB . 1 " * " ' !' ! #0" "!BaXZLY_.BaXD^J9<K:BV\.KMLO=5 598 `9<?A^0P0K>=+K. [L 95\ =5(B!Fg^5S92X LS9<\(QJ9<\0BU?T=+]M9<7 _.7= H I =<`GP 9= IJBa=+?6 XMBa=+7>`jb =+^0^07:92=<`jb3LOX _.P0B K:9 K:b0BY= =5`KTK:b =@KT=3X:`BV\0B K:9P<BV\`V=+\I B XMb =+7jBa_ I8 XMBVW<BV7>=5(_5L10 BV7jBV\2KK:9P5BV\ X#I BLS\0;AKj7>=<T` P<BaR_ B;3b.P X LSK LOX ^ 92X:XZL[I 5SBUK:b =+K!Kjb.LYX=+^0^07j92=<`jb ;<BV\0BV7>=+K:BaX K:9ZP<BV\ X H b.LO`jb =+7:BD\09<K!?FP0K:P = 5 598 !B FRT` 5SP X LSW<B<QR\09<7`9<\ X LOXMK:BV\.K H LSK:bTBa=5`:b 9<K:b0BV7 B73b0BA= 9<7:?ABV7 H =<X= 5S7:Ba=<_ 8 _5LOX:`P X:XMBa_ LS\ K:b0B^07:BVW5L[95P XXMBa`KMLS9<\ Z_5LOX:`V=@7>_5LS\0; 7:Ba_.P0\ _0=+\.KK:9ZP<BV\ X
(280) B73b0AB 5O=+K:KjBV7LOXXM95?ABVKMLS?ABaXD=A_.BaX LS7:Ba_ = Ba=+K:P07jB<Q0I Ba`V=+P X B L = H B.
(281) k. ; ;. b =aW5B!\09<K BV\09<P0;<bULS\= 957:?T=+KMLS9<\(Q LSK LOX H OL XMBK:9 S5 Ba= W<BK:b0Bº= 9<7jK:b `9<?FLS\0;D9<I XMBV7:W+=+KMLS9<\ X K:9A7:BaXM19 5[W5BK:b0B=+?FI.LS;<P.LSKu8B T1 S1 T2. ¬
(282)
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(286) GGAÊy
(287) !
(288) ¯. S2. ÊÄ K
(289)
(290) j
(291) «
(292)
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(294)
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(296) K !
(297) . 9 H BVW<BV7 Q.LS\ Kjb0B XZL[KjP =+KMLS9<\ =<XDXMb09 H \L[\ LS;B:d0Q H B `V=+\ B!F0^5S9+LSK = XMK:7>=+KjBV;8<Q H b.LO`:b H B`V=5 5gK:b0B T5S90`GP5LS\0;6 9<\76 =6 Kj9P<BV\ 0Q K:9D9<I0K>= LS\ =DIJBVK:K:BV7 ^ BV7
(298) = 9<7:? =+\ `BB BV7:B K H 9K:Z9 P<BV\ X#XMb =+7:B9<\0B9= K:b0B?ABa=<X P07:BV?ABV\.K
(299) >Q<=+\ _F9<\0BK:9P<BV\
(300) b =<X ?FP `:b 5[BaXjX#P0\ `BV7:K>=hL[\.
(301) K 8K:b =@\ Kjb0B 95K:b0BV7 95\0B
(302) B \b0BV\T=?ABa=<X P07:BV?ABV\.K ZX:`BV\0BK:9P<BV\
(303) LYXWh= 5 LO_0=+KjBa_ I 8 =AXMBa`P07jBK:9 P5BV\ LS\ K:b.LOXD`V=<XMB
(304) >Q H b092XMB X K>=+K:BD^ =+7>=+? BVK:BV7>X=+7jB ^07:Ba`jLOXMB BV\09<P0;<b(Q K:b0B ^ = LS7MLS\0; LOX = 5S?A92XMKAP0\ =@? I.LS;<P095P X B®3$b.LYX ? Ba=<XMP07:BV?ABV\.KFLOX X:= LO_ K:9 IJ B 5S9gT` P<Ba_ 9<\I 83K:b0B K:9 P<BV\(Q=+\ _= 5 5 95K:b0BV7TKj9 P<BV\ X XMBa=+7`:b = 9<7 K:b0BLS7 `9<7:7:BaXM^J9<\ _.BV\ `BaX =<XU L = Kjb.LYX ?ABa=<XMP07:BV? BV\2KT_5LO_ \09<KF!B F2LOXM K B " \ Kjb0B X LSK:P =+KMLS9<\ =<X XMb09 H \L[\ LS; B:d0QJK:b0BAX:`BV\0BAKj9 P<BV \ LYEX 5S90G` P5Ba_ 9<\ I 8 Kjb0B Kj9 P<BV\ >Q =+\ _K:b0BV\ K:b0BX:`BV\0BKj9 P<BV \ $LOXP0\.LON<P0!B 598 ^ = LS7:Ba_ Kj9 Kjb0BK:9 P5BV\ B 3b0BV7:B=@7:B=+S K 5SBa=<XMKK:b07:BVB H = 8gX K:9FLS?A^ 5SBV?ABV\.KDK:b.LOXXMKj7>=+K:BV; 8!k BA>!9<?A^ =@7MLS\0;K:b0BDP0\ `BV7:K>= LS\.
(305) K 8A?ABa=<XMP07jBaX B;3b0BK:7>=<`B19 = Kjb0B `9+Wh=@7MLO=+\ `B? =+K:7M L F 7:9<P0;<b 598 ?ABa=<XMP07jBaXK:b0B?T=+;5\.L[KjP _.B9 = K:b0BP0\ `BV7:K= LS\2
(306) K 8B?" = K:7=<`B T>!9+W
(307)
(308) K:7>=<`B T>!9+W
(309)
(310) B B %; BSQ K:7>=<`B G> 9hW
(311)
(312) 5 K:7>=<`B T>!9+W
(313)
(314)
(315) Q Kjb0BV \ `V=+\ 5S9gT` P 9<\ K:b0BXMb =@7:Ba_ X:`BV\0BUK:9 P<BVC \B 7d BA>!9<P0\.KMLS\0;Kjb0B!\.P0? IJBV7 19 =R=+^0^JBa=+7>=+\ `Ba-X B" = _.P07MLS\0;K:b0B#^ =<XMK ZX:= 8<Q /
(316) 7= 7>=+?ABaXVQ K:b0B\2P0?FIJBV7#9 = =+^0^JBa=+7>=+\ `B9 = Z_.BV\09<K:Ba_UI 8
(317) JLYX ?FP `jbFI.L[;5;<BV7!K:b =@\K:b =+K .
(318)
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