DocumentCode
2245041
Title
Robust visual tracking using a fixed multi-camera system
Author
Lippiello, Vincenzo ; Siciliano, Bruno ; Villani, Luigi
Author_Institution
Dipt. di Inf. e Sistemistica, Univ. degli Studi Napoli Fedrico II, Italy
Volume
3
fYear
2003
fDate
14-19 Sept. 2003
Firstpage
3333
Abstract
The problem of tracking the position and orientation of a moving object using a stereo camera system is considered in this paper. A robust algorithm based on the extended Kalman filter is adopted, combined with an efficient selection technique of the object image features, based on Binary Space Partitioning tree geometric models. An experimental study is carried out using a vision system of two fixed cameras.
Keywords
Kalman filters; computer vision; position control; stereo image processing; tracking; trees (mathematics); binary space partitioning; extended Kalman filter; fixed cameras; fixed multiple camera system; moving object orientation; object image features; position tracking; robot vision; robust visual tracking; stereo camera system; tree geometric models; vision system; Cameras; Machine vision; Motion estimation; Noise robustness; Optical filters; Optical sensors; Partitioning algorithms; Solid modeling; Tracking; Working environment noise;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-7736-2
Type
conf
DOI
10.1109/ROBOT.2003.1242105
Filename
1242105
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