Geometric Constraints for Line Segment Tracking in Image Sequences

In this paper, the line segment tracking is considered for an imaging system with translational motions (T.M.), rotational motions (R.M.) and arbitrary motions. Assuming a CCD camera with an arbitrary tilt angle installed on a mobile robot equipped with odometry system, to reduce the search space in the correspondence problem, two constraints are developed. These constraints are location and orientation differences (O.D.) for line segments in consecutive images. The findings of this paper include: 1)The development of the effect of camera tilt on the location constraint for T.M., 2)Illustrating that the upper bound of O.D. for both horizontal and vertical lines with respect to the floor, is a function of tilt in T.M., which can considerably be reduced and thus providing a tight constraint, 3)The development of the location constraint for R.M., 4) The development of the PDF and upper bound of O.D. for R.M., 5) The development of the location and O.D. constraint for arbitrary motions. Furthermore, the efficiency of these developed constraints in a line tracking algorithm was verified.