REAL-TIME OBJECT DETECTION, TRACKING, AND 3D POSITIONING IN A MULTIPLE CAMERA SETUP
Other literature type, Article
Lee, Y. J.
- Publisher: Copernicus Publications
(issn: 2194-9050, eissn: 2194-9050)
TA1-2040 | T | TA1501-1820 | Applied optics. Photonics | Engineering (General). Civil engineering (General) | Technology
We introduce a real-time object positioning system that naturally combines detection, tracking, and 3D positioning in a multiple
camera setup. Depending on the task, the detection, tracking, and positioning steps, when performed independently have limitations
due to the loss of temporal and geometric constraints. We conjecture that the detection and tracking steps do not always estimate a
correct solution due to incorrect matches, appearance variations or occlusions. In order to offset these problems, we use the geometry
between the target object and cameras to refine detection and tracking result and provide persistent and reliable solution to 3D
positioning. The geometry is introduced to the detection and tracking steps by simultaneously solving the 3D position of the target
object by using a bundle adjustment step. Test results show that the system provides reliable solution at the speed of six to ten frames
per second for a four high definition camera setup running on a single computer.