An important building block for intelligent mobile robots is the ability to track people moving around in the environment. Algorithms for person-tracking often incorporate motion models, which can improve tracking accuracy by predicting how people will move. More accurate motion models produce better tracking because they allow us to average together multiple predictions of the person’s locatio...

In this paper, the classical task of mobile target tracking using a pan-and-tilt camera is considered. The authors use recent results in motion-based visual servoing to deal with complex targets for which shape and texture are unknown. The first method consists of designing a control law directly from the estimated image motion. This leads to the computation of the pan-and-tilt acceleration nec...

The purpose of this study was to improve the accuracy of real-time ego-motion tracking through inertial sensor and vision sensor fusion. Due to low sampling rates supported by web-based vision sensor and accumulation of errors in inertial sensors, ego-motion tracking with vision sensors is commonly afflicted by slow updating rates, while motion tracking with inertial sensor suffers from rapid d...

A tracking algorithm that predicts the object contour using motion vector information is proposed in this paper. Tracking is achieved by predicting the object boundary using motion vectors, followed by contour update, using occlusionsldisocclusion detection. An adaptive block-based approach has been used for estimating motion between frames. An efficient modulation scheme is used to control the...

In this paper, we present a stochastic framework for articulated 3D human motion tracking. Tracking full body human motion is a challenging task, because the tracking performance normally suffers from several issues such as self-occlusion, foreground segmentation noise and high computational cost. In our work, we use explicit 3D reconstructions of the human body based on a visual hull algorithm...

Pose estimation involves reconstructing the configuration of a moving body from images sequences. In this paper we present a general framework for pose estimation of unknown objects based on Shafer’s evidential reasoning. During learning an evidential model of the object is built, integrating different image features to improve both estimation robustness and precision. All the measurements comi...