Saccade Argos: Hierarchical Robust Tracking System for High Spatio-temporal Resolution Vision

Target tracking is one of the most important tasks in computer vision to keep capturing an object with high spatio-temporal resolution. However, when the field of view is narrowed to capture a target in detail, it is easy to lose sight of the target due to the fast movement or occlusion. In this paper, we propose a system integration method that hierarchically handles multiple visions with different FOV from wide-angle to telephoto, and each vision independently tracks the target while sharing the target position to achieve robust tracking. The proposed method was applied to Saccade Argos, a three-tier tracking system that combines a fixed stereo camera and active tracking systems using Galvano scanners, and achieved robust target tracking against occlusion with high temporal resolution (1,000 fps) and high spatial resolution (248.3 px/deg.).