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Independently moving object detection and tracking using stereo vision

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4 Author(s)
Hao Sun ; School of Electrical Science and Engineering, National University of Defense Technology, Changsha, Hunan Province, China ; Cheng Wang ; Boliang Wang ; Naser El-Sheimy

We present an approach for detecting and tracking independently moving objects from a mobile platform using uncalibrated stereo cameras. Firstly, scale invariant feature transform (SIFT) features are detected and a novel multiview matching method is proposed for simultaneous stereo matching and motion tracking of the detected features. A multiview geometric constraint, derived from the relative camera positions in pairs of consecutive stereo views, is then derived for independent motion detection. Finally, a dimensional variable particle filter is introduced for joint detection and tracking of multiple independently moving objects. Experimental results on real-world stereo sequences demonstrate the effectiveness and robustness of our method.

Published in:

Information and Automation (ICIA), 2010 IEEE International Conference on

Date of Conference:

20-23 June 2010