Object tracking based stereo vision

Model-Based Object Tracking Using Stereo Vision

Robust and accurate object recognition and tracking is a necessary pre-requisite for visual servoing tasks. While most approaches use monocular vision in order to solve this problem, this paper presents a new approach using disparity images provided by a stereo vision system from which 3-D models are reconstructed. We use a segmentation procedure based on a simple region growing process to segm...

Object Tracking with Stereo Vision

Task directed, active vision techniques are beginning to produce vision systems capable of providing real-time depth perception for robots. The concepts of shallow disparity filters and coarse disparity segmentation show particular promise for several reasons: they require minimal correlation search, thus they are fast; they employ redundant measurements, so they are noise tolerant; and they ar...

Small Object Detection Based on Stereo Vision*

Sensing the environment around the host vehicle is an essential task of autonomous driving systems and advanced driver assistance systems. Detecting small objects on road is one of the environment sensing tasks which LIDAR has some fundamental difficulties to handle. For example, assume a typical LIDAR, Velodyne HDL-32E, installed on the top of a vehicle with 2.4 meter high. According to the sp...

Model Based Object Recognition using Stereo Vision

Multi-object detection and tracking by stereo vision

This paper presents a new stereo vision-based model for multi-object detection and tracking in surveillance systems. Unlike most existing monocular camera-based systems, a stereo vision system is constructed in our model to overcome the problems of illumination variation, shadow interference, and object occlusion. In each frame, a sparse set of feature points are identified in the camera coordi...