Real-time 3-D object tracking using Kinect sensor

In this paper, we propose a novel method for real-time three-dimensional (3-D) object tracking based on integration of 3-D range and color information. To get 3D range and color information simultaneously, our method utilizes the Microsoft Kinect sensor which is composed of depth and color cameras. 3-D range and color information are integrated using the estimated depth and color cameras intrinsic parameters and relative transformation between the cameras. The target region can be tracked by processing depth pixels with color information. Through experiment in real environment, we confirm the validity of our method.