A new approach to pose detection using a trinocular stereovision system

  • Authors:

  • Rafael Garcia;Joan Batlle;Joaquim Salvi

  • Affiliations:

  • Computer Vision and Robotics Group, Institute of Informatics and Applications, Dep. of Electronics, Informatics and Automation, University of Girona, Av. Lluis Santalo, s/n, E-17003 Girona (Spain);Computer Vision and Robotics Group, Institute of Informatics and Applications, Dep. of Electronics, Informatics and Automation, University of Girona, Av. Lluis Santalo, s/n, E-17003 Girona (Spain);Computer Vision and Robotics Group, Institute of Informatics and Applications, Dep. of Electronics, Informatics and Automation, University of Girona, Av. Lluis Santalo, s/n, E-17003 Girona (Spain)

  • Venue:
  • Real-Time Imaging
  • Year:
  • 2002

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Abstract

Object location and tracking is a major issue in computer vision. This problem is normally solved through the extraction of representative features of the object, and the two-dimensional coordinates of these image features are used to compute the position of the object. When more than one camera is used, a certain similarity measure between the image features extracted from both stereoscopic images helps to match the correspondences. In this way, three-dimensional measurements can be recovered from the 2D coordinates of the features extracted from different cameras. In this paper the use of a trinocular system is considered to estimate both the position and velocity of known objects by using their apparent area, and with no use of the image-plane coordinates of the object's features. A high precision low-level image processor has been developed for performing object labeling and noise filtering of the images at video rate. Then, a position measurement tool uses the apparent area captured by every camera to locate the object. This enables us to estimate the position of the object. Finally, a prediction tool refines the estimation in locating the object. We show the performance of the trinocular system with a real implementation. This system has been designed to process the images provided by any conventional of high-speed cameras at video rate.