A Multiple Hypothesis Approach for a Ball Tracking System
نویسندگان
چکیده
This paper presents a computer vision system for tracking and predicting flying balls in 3-D from a stereo-camera. It pursues a “textbook-style” approach with a robust circle detector and probabilistic models for ball motion and circle detection handled by state-of-theart estimation algorithms. In particular we use a Multiple-Hypotheses Tracker (MHT) with an Unscented Kalman Filter (UKF) for each track, handling multiple flying balls, missing and false detections and track initiation and termination. The system also performs auto-calibration estimating physical parameters (ball radius, gravity relative to camera, air drag) simply from observing some flying balls. This reduces the setup time in a new environment.
منابع مشابه
Real-time 3D Soccer Ball Tracking from Multiple Cameras
A novel model for 3D soccer ball tracking is proposed, using multiple fixed cameras as input. The main problems are: successfully filtering false alarms, tracking through missing observations and estimating 3D positions from single or multiple camera inputs. The key innovation is to categorise all motion of the ball into four possible phases – rolling, flying, in possession, and out of play, an...
متن کاملBall Tracking and Virtual Replays for Innovative Tennis Broadcasts
This paper presents a real-time computer vision system that tracks the motion of a tennis ball in 3D using multiple cameras. Ball tracking enables virtual replays, new game statistics, and other visualizations which result in very new ways of experiencing and analyzing tennis matches. The system has been used in international television broadcasts and webcasts of more than 15 matches. Six camer...
متن کاملAn Adaptive-Robust Control Approach for Trajectory Tracking of two 5 DOF Cooperating Robot Manipulators Moving a Rigid Payload
In this paper, a dual system consisting of two 5 DOF (RRRRR) robot manipulators is considered as a cooperative robotic system used to manipulate a rigid payload on a desired trajectory between two desired initial and end positions/orientations. The forward and inverse kinematic problems are first solved for the dual arm system. Then, dynamics of the system and the relations between forces/momen...
متن کاملA Gravitational Search Algorithm-Based Single-Center of Mass Flocking Control for Tracking Single and Multiple Dynamic Targets for Parabolic Trajectories in Mobile Sensor Networks
Developing optimal flocking control procedure is an essential problem in mobile sensor networks (MSNs). Furthermore, finding the parameters such that the sensors can reach to the target in an appropriate time is an important issue. This paper offers an optimization approach based on metaheuristic methods for flocking control in MSNs to follow a target. We develop a non-differentiable optimizati...
متن کاملOnline multiple people tracking-by-detection in crowded scenes
Multiple people detection and tracking is a challenging task in real-world crowded scenes. In this paper, we have presented an online multiple people tracking-by-detection approach with a single camera. We have detected objects with deformable part models and a visual background extractor. In the tracking phase we have used a combination of support vector machine (SVM) person-specific classifie...
متن کامل