Real-time target localization and tracking by N-ocular stereo

In recent years, various practical systems using multiple vision sensors have been proposed. In this paper, as an application of such vision systems, we propose a real-time human tracking system consisting of multiple omnidirectional vision sensors (ODVSs). The system measures people's locations by N-ocular stereo, which is an extension of trinocular stereo, from omnidirectional images taken with the ODVSs. In addition, the system employs several compensation methods for observation errors in order to achieve robust measurement. We have evaluated the proposed methods in the experimentation using four compact ODVSs we have originally developed.