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Proceedings Paper

Coordinated Tracking Of Multiple Point Targets With Multiple Cameras
Author(s): Jeffrey Labuz
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Paper Abstract

Presented in this paper are the system and measurement models, and the recursive filter equations, for an extended Kalman filter (EKF) to be used in tracking video point targets. The filter is designed to maintain estimates of a target's position, velocity, and acceleration in three dimensions (3D) based on two-dimensional (2D) measurements of the target's bearings as observed by several cameras. The geometric mapping from object points in 3D world coordinates to image points in 2D image coordinates is modeled by the central projection for pinhole cameras. The recursive equations of the EKF incorporate the Jacobian of this nonlinear camera transformation.

Paper Details

Date Published: 5 January 1989
PDF: 7 pages
Proc. SPIE 1003, Sensor Fusion: Spatial Reasoning and Scene Interpretation, (5 January 1989); doi: 10.1117/12.948938
Show Author Affiliations
Jeffrey Labuz, University of South Carolina (United States)

Published in SPIE Proceedings Vol. 1003:
Sensor Fusion: Spatial Reasoning and Scene Interpretation
Paul S. Schenker, Editor(s)

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