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Proceedings Paper

3-D motion tracking using stereo camera and range radar
Author(s): Stelios C.A. Thomopoulos; Lars Nillson
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Paper 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.

Paper Details

Date Published: 1 January 1990
PDF: 15 pages
Proc. SPIE 1260, Sensing and Reconstruction of Three-Dimensional Objects and Scenes, (1 January 1990); doi: 10.1117/12.20001
Show Author Affiliations
Stelios C.A. Thomopoulos, Southern Illinois Univ. and Pe (Greece)
Lars Nillson, Southern Illinois Univ. (United States)


Published in SPIE Proceedings Vol. 1260:
Sensing and Reconstruction of Three-Dimensional Objects and Scenes
Bernd Girod, Editor(s)

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