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This paper addresses the problem of determining the current 3D location of a moving object and robustly tracking it from a sequence of camera images. The approach presented here uses a particle filter and does not perform any explicit triangulation. Only the color of the object to be tracked is required, but not any precise motion model. The observation model the authors have developed avoids the color filtering of the entire image. The MonteCarlo techniques inside the particle filter provide real time performance. Experiments with two real cameras are presented and lessons learned are commented. The approach scales easily to more than two cameras and new sensor cues.
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