Integrated Person Tracking Using Stereo, Color, and Pattern Detection
International Journal of Computer Vision - Special issue on a special section on visual surveillance
Probabilistic regularisation and symmetry in binocular dynamic programming stereo
Pattern Recognition Letters - In memory of Professor E.S. Gelsema
Monocular model-based 3D tracking of rigid objects
Foundations and Trends® in Computer Graphics and Vision
ACM Computing Surveys (CSUR)
Real-time Stereo Vision FPGA Chip with Low Error Rate
MUE '07 Proceedings of the 2007 International Conference on Multimedia and Ubiquitous Engineering
Adaptive multi-modal stereo people tracking without background modelling
Journal of Visual Communication and Image Representation
People detection and tracking with multiple stereo cameras using particle filters
Journal of Visual Communication and Image Representation
Tracking random finite objects using 3D-LIDAR in marine environments
Proceedings of the 2010 ACM Symposium on Applied Computing
Multi-object detection and tracking by stereo vision
Pattern Recognition
Real-Time Stereo Matching Using Orthogonal Reliability-Based Dynamic Programming
IEEE Transactions on Image Processing
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Stereo correspondence algorithms, which are fast enough for real-time use, require hardware assistance and inevitably trade some matching accuracy for speed. A cloud of 3D points thus produced by our previously reported GPU accelerated implementation of a dynamic programming correspondence algorithm is noisy and contains artifacts, which hinder tracking accuracy. We have augmented this implementation with modules for re-projection and filtering. A fast clustering procedure based upon a set of simple volume rules identifies candidate objects. An opportunistic tagging system tracks objects through occlusions. Kalman filtering predicts positions in the next frame. These steps reduce the effects of dynamic programming streaks in the depth maps. Experiments with synthetic and real-world video sequences confirmed the accuracy in tracking multiple objects (e.g. humans) in various environments.