3-D motion tracking using stereo camera and range radar

Stelios C.A. Thomopoulos; Lars Nillson

doi:10.1117/12.20001

1 January 1990 3-D motion tracking using stereo camera and range radar

Stelios C.A. Thomopoulos, Lars Nillson

Proceedings Volume 1260, Sensing and Reconstruction of Three-Dimensional Objects and Scenes; (1990) https://doi.org/10.1117/12.20001
Event: Electronic Imaging: Advanced Devices and Systems, 1990, Santa Clara, CA, 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 accelaration.

Citation Download Citation

Stelios C.A. Thomopoulos and Lars Nillson "3-D motion tracking using stereo camera and range radar", Proc. SPIE 1260, Sensing and Reconstruction of Three-Dimensional Objects and Scenes, (1 January 1990); https://doi.org/10.1117/12.20001

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