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
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;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1248861
