This article presents a general approach for the active
stereo tracking of multiple moving targets. The problem is
formulated on the plane, where cameras are modeled as
”line scan cameras” and targets are described as points
with unconstrained motion. We propose to control the active
system parameters in such a manner that the images of
the targets in the two views are related by an homography.
This homography is specified during the design stage and
implicitly encodes the tracking behavior. It is shown that
this formulation leads to an elegant geometric framework
that enables to decide about the feasibility of a particular
active tracking task. We apply it to prove that two cameras
with rotation and zoom control, can track up to three moving
targets, while assuring that the image location of each
target is the same for both views. In addition, the framework
is also useful for devising tracking strategies and deriving
the required control equations. This feature is ...
Helder Araújo, João P. Barreto, Luis