Tracking multiple objects in 3D

Author

Barreto, João P. ; Peixoto, Paulo ; Batista, Jorge ; Araujo, Helder

Author_Institution

Dept. of Electr. Eng., Inst. Syst. & Robotics, Coimbra, Portugal

Volume

1

fYear

1999

fDate

1999

Firstpage

210

Abstract

A system for tracking multiple targets in 3D is described. The system is made up of two pan-and-tilt units that are attached to the extremities of a rotating arm. This configuration has several advantages and can deal with several specific instances of tracking more than one target. A control strategy that guarantees equal target disparities in both images whenever targets are seen by both cameras is presented. This has advantages for segmentation and trajectory reconstruction. Target images are simultaneously visible in the cameras, enabling the recovery of the targets 3D trajectory. It is also shown that mutual occlusion occurs in a well-defined configuration and can therefore be dealt with

Keywords

image motion analysis; image segmentation; target tracking; 3D tracking; mutual occlusion; pan-and-tilt units; rotating arm; segmentation; target disparities; trajectory reconstruction; Application software; Cameras; Computer vision; Extremities; Image segmentation; Motion segmentation; Robot vision systems; Surveillance; Target tracking; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on

Conference_Location

Kyongju

Print_ISBN

0-7803-5184-3

Type

conf

DOI

10.1109/IROS.1999.813006

Filename

813006