DocumentCode
399315
Title
Coping with occlusions in visual tracking of multiple objects
Author
Lippiello, Vincenzo ; Siciliano, Bruno ; Villani, Luigi
Author_Institution
Universita degli Studi di Napoli Federico II, Italy
Volume
2
fYear
2003
fDate
27-31 Oct. 2003
Firstpage
1530
Abstract
The problem of visual tracking of multiple objects is considered in this paper. Special emphasis is devoted to the case when two or more objects overlap with respect to the visual system causing occlusion. The algorithm is based on the Kalman filtering and binary space partition tree representations of the objects geometry. The real-time implementation of the algorithm is experimentally tested for the case of visual tracking of two objects using two cameras.
Keywords
Kalman filters; industrial manipulators; real-time systems; robot vision; stereo image processing; trees (mathematics); Kalman filtering; binary space partition tree representations; fixed stereo camera system; multiple objects; occlusions; real-time implementation; visual tracking; Cameras; Computational geometry; Filtering algorithms; Kalman filters; Partitioning algorithms; Real time systems; Robot vision systems; Robotic assembly; System testing; Visual system;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN
0-7803-7860-1
Type
conf
DOI
10.1109/IROS.2003.1248861
Filename
1248861
Link To Document