Outdoor Target Tracking and Positioning Based on Fisheye Lens

Omni-directional vision (omni vision) has been used in many fields because of its advantage of extremely wide view; one way to establish omni vision system is using fisheye lens. Target recognition and tracking is a tough task in computer vision, which is even more challenging in outdoor environment. In this paper, a recognition and tracking algorithm suitable for a natural target in outdoor environment is introduced. The natural target we choose is the overhead street lamps. The recognition method is based on a template matching algorithm. The proposed tracking algorithm is based on particle filter. The difference between our method and the traditional particle filter is that the proposed method is based on the area of the target rather than the color histogram. Then, an omni-vision localization algorithm is described. The positioning algorithm just utilizes the distance between two beacons in the real world coordinate to estimate the position and orientation of the vehicle.