Robust multiple car tracking with occlusion reasoning
ECCV '94 Proceedings of the third European conference on Computer vision (vol. 1)
CONDENSATION—Conditional Density Propagation forVisual Tracking
International Journal of Computer Vision
A Unifying Theory for Central Panoramic Systems and Practical Applications
ECCV '00 Proceedings of the 6th European Conference on Computer Vision-Part II
Real-time closed-world tracking
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Catadioptric Sensors that Approximate Wide-Angle Perspective Projections
OMNIVIS '00 Proceedings of the IEEE Workshop on Omnidirectional Vision
Constant Resolution Omnidirectional Cameras
OMNIVIS '02 Proceedings of the Third Workshop on Omnidirectional Vision
Robust Tracking of Soccer Players Based on Data Fusion
ICPR '02 Proceedings of the 16 th International Conference on Pattern Recognition (ICPR'02) Volume 1 - Volume 1
IEEE Transactions on Pattern Analysis and Machine Intelligence
Cognitive concepts in autonomous soccer playing robots
Cognitive Systems Research
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This paper presents a robust tracking system for autonomous robots equipped with omnidirectional cameras. The proposed method uses a 3D shape and color-based object model. This allows to tackle difficulties that arise when the tracked object is placed above the ground plane floor. Tracking under these conditions has two major difficulties: first, observation with omnidirectional sensors largely deforms the target's shape; second, the object of interest embedded in a dynamic scenario may suffer from occlusion, overlap and ambiguities. To surmount these difficulties, we use a 3D particle filterto represent the target's state space: position and velocity with respect to the robot. To compute the likelihood of each particle the following features are taken into account: i) image color; ii) mismatch between target's color and background color. We test the accuracy of the algorithm in a RoboCup Middle Size League scenario, both with static and moving targets.