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Tracking multiple objects in 3D

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4 Author(s)
Barreto, J.P. ; Dept. of Electr. Eng., Inst. Syst. & Robotics, Coimbra, Portugal ; Peixoto, P. ; Batista, J. ; Araujo, H.

A system for tracking multiple targets in 3D is described. The system is made up of two pan-and-tilt units that are attached to the extremities of a rotating arm. This configuration has several advantages and can deal with several specific instances of tracking more than one target. A control strategy that guarantees equal target disparities in both images whenever targets are seen by both cameras is presented. This has advantages for segmentation and trajectory reconstruction. Target images are simultaneously visible in the cameras, enabling the recovery of the targets 3D trajectory. It is also shown that mutual occlusion occurs in a well-defined configuration and can therefore be dealt with

Published in:

Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on  (Volume:1 )

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