Jason Rife
<jrife@leland.Stanford.EDU>


I'm interested in tracking a bubble in an underwater image sequence.  The image
may contain other bubbles or underwater snow.  (The background here:  we
want a robot sub equiped with a robot camera to track the bubble, so the
bubble should always stay centered in the image.  Discrepancies between the
bubble and image centers are fed to a control algorithm which actuates the
sub appropriately.)  I'm sure tracking algorithms suitable for this project
have been developed.  If you could point me in the right direction, I'd like
to read a few articles on tracking, pick an algorithm, and implement it.
The implementation would involve pulling images from a video tape and
calculating an error signal appropriately.