Analysis on real time motion estimation with active stereo camera

We have developed an active stereo camera device called Active Eye Sensing System (AESS), which is used to measure motion parameters necessary for robot manipulation. Using AESS, we extract a moving object from the gray scale image, keep tracking, and measure its position and velocity. In order to accomplish the precise measurement, there are problems found not in the fixed camera but in the moving camera. At first simulation was done to evaluate the trajectory planning of active camera, not to lose the target object. Then, solutions to measurement problems were experimented on the real-time system. Using the measured data, optical flow based method to extract the orientation of moving object is introduced.