Zoom interacts strongly with both vision and control processes in an active visual system, causing problems for many commonly used tracking methods. This paper demonstrates the use of afne transfer to track while zooming, using clusters of corner features. Afne transfer not only is fundamentally invariant to zoom but also provides a natural mechanism to allow features to appear and disappear while tracking, events which will occur as detail sharpens and dissolves during zooming. The paper demonstrates ofine 3D afne transfer during zoom for objects undergoing substantial rotation, and describes real-time experiments using 2D afne transfer while zooming and tracking using an active camera platform.
['Eric Hayman', 'Ian D. Reid 0001', 'David W. Murray']
Zooming while Tracking Using Affine Transfer.