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
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;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1242105
