Stereoscopic Tracking of Bodies in Motion

R. Cipolla, M. Yamamoto
1989 Procedings of the Alvey Vision Conference 1989  
In this paper we present a fast, highly efficient and robust visual tracking process for multiple moving objects, using stereo image sequences taken from a stationary camera. The algorithm assumes that object motion is restricted to a horizontal plane ( for example motion of cars on roads or humans walking). Dense stereo image sequences and the Visualised Locus method [1] [2] (in which each image sequence is first sampled to produce a 2D spatiotemporal cross-section image) are used to ensure
more » ... e used to ensure temporal correspondence without search. Edge segments in the left and right spatio-temporal images are then matched. Additional stereo matching constraints are derived by using motion and temporal continuity to reduce the number of ambiguous matches. Speed is achieved by only processing a single spatio-temporal cross-section image from each image sequence. The algorithm succeeds in tracking objects in space and time moving against arbitrarily complex backgrounds and in the presence of occlusion, disappearance and reappearance of object features. The output of the algorithm is the 3D position of moving objects as a function of time.
doi:10.5244/c.3.19 dblp:conf/bmvc/CipollaY89 fatcat:fjjwx5qv2zhazh4jrhhsmcbjkq