Object Tracking From Image Sequences Using Stereo Camera And Range Radar

Stelios C. A. Thomopoulos; Lars Nillson

doi:10.1117/12.969972

1 March 1990 Object Tracking From Image Sequences Using Stereo Camera And Range Radar

Stelios C. A. Thomopoulos, Lars Nillson

Proceedings Volume 1198, Sensor Fusion II: Human and Machine Strategies; (1990) https://doi.org/10.1117/12.969972
Event: 1989 Symposium on Visual Communications, Image Processing, and Intelligent Robotics Systems, 1989, Philadelphia, PA, United States

Abstract

The problem of estimating the position of and tracking an object undergoing 3-D translational and rotational motion using passive and active sensors is considered. The passive sensor used in this study is a stereo camera, whereas the active is a range radar. Three different estimation approaches are considered. The first involves estimation of the object position by direct registration of stereo images. In the second approach, the Extended Kalman Filter is used for estimation with measurements the stereo images. In the third approach, an integral filter based on stereo images and range radar measurements is used for tracking. The three different approaches are compared via simulation in the tracking of an object undergoing a 3-D motion with random translational and angular acceleration.

Citation Download Citation

Stelios C. A. Thomopoulos and Lars Nillson "Object Tracking From Image Sequences Using Stereo Camera And Range Radar", Proc. SPIE 1198, Sensor Fusion II: Human and Machine Strategies, (1 March 1990); https://doi.org/10.1117/12.969972

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