This paper describes an algorithm for stereo tracking using 3D affine transfer of a body-centred fixation point. Transfer is based on corners detected in the image and matched over time and in stereo. The paper presents a method of basing the transfer on all the available data, providing immunity to noise and poor conditioning. The paper also shows an implementation at video rates on a four axis active camera platform. Graceful degradation in the presence of insufficient data and fixed latency tracking in parallel with the structure calculation provide robust performance. Recovered trajectories are shown in an approximately Euclidean frame while structure transfer is demonstrated by the evolution of the target's convex hull.>

We describe an algorithm which uses affine transfer of the fixation point in a stereo pair to obtain stereo fixation of a moving object. The method runs in real-time using corners tracked temporally and in stereo. The fixation point is transferred to new left and right views using affine structure from four views old left and right and new left and right. We also present the singular value decomposition as a means by which all possible feature points contribute to the transfer, providing immunity to poor choice of basis features. Early results are presented for the method, showing its speed and reliability.