Hi Dejan, The pyramidal Lucas Kanade tracker in OpenCV ( http://opencv.willowgarage.com/documentation/cpp/video_motion_analysis_and_object_tracking.html?highlight=lk#calcOpticalFlowPyrLK) tracks key features from frame to frame using optical flow. It can run at 15-30 Hz depending on the size of the image. It tracks each feature independently but is not extremely robust to large motions or changes in view angles between frames. If you have a good estimate of how some of the points are moving this can be fed into the algorithm. Also playing around with the pyramid terms (i.e. number of levels, size of feature window, etc) can help but your mileage may vary. I believe there is an lkdemo in the opencv2 ros package. In general this is good if you need frame rate feature tracking. Otherwise, from my limited experience, I think there are better methods for feature matching but this is worth a try. Marc Killpack Healthcare Robotics Lab - Georgia Tech Date: Mon, 11 Apr 2011 18:14:02 +0200 > From: Dejan Pangercic > Subject: [ros-users] Tracking of 2D Features in Images > To: User discussions > Message-ID: > Content-Type: text/plain; charset=ISO-8859-1 > > Dear ROS-istas, > > is anyone aware of an efficient package or library implementation that > performs the tracking of 2D features in images? > My aim is to find out which features are moving rigidly and which not > with respect to each other. > > Thx for your info and best, D. > > -- > MSc. Dejan Pangercic > PhD Student/Researcher > Intelligent Autonomous Systems Group > Technische Universit?t M?nchen > Telephone: +49 (89) 289-26908 > E-Mail: dejan.pangercic@cs.tum.edu > WWW: http://ias.cs.tum.edu/people/pangercic >