Naslov
Tracking of multiple moving objects on the unit sphere using a multiple-camera system on a mobile robot

Autori
Ćesić, Josip ; Marković, Ivan ; Petrović, Ivan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 13th International Conference on Intelligent Autonomous Systems (IAS) / Emanuele Menegatti, Nathan Michael, Karsten Berns, Hiroaki Yamaguchi - Padova : Springer, 2014, 899-911

ISBN
978-3-319-08337-7

Skup
The 13th International Conference on Intelligent Autonomous Systems (IAS)

Mjesto i datum
Padova, Italija, 15.07.2014. - 19.07.2014

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
multiple-camera system; von Mises-Fisher distribution; multiple object tracking

Sažetak
Detection and tracking of moving objects with camera systems mounted on a mobile robot presents a formidable problem since the ego- motion of the robot and the moving objects jointly form a challengingly discernible motion in the image. In this paper we are concerned with multiple-camera systems, namely the Ladybug2 camera, whose perspective images were used to detect motion and subsequently perform the tracking of multiple objects on the sphere. This enabled us to account for the continuity of the scene which is achieved by the sensor in an image stitching process on the sphere. The objects are tracked on the sphere with a Bayesian filter based on the von Mises-Fisher distribution and the data association is achieved by the global nearest neighbor method, for which the distance matrix is constructed by deriving the Rényi alpha-divergence for the von Mises-Fisher distribution. The prospects of the proposed method are tested on a synthetic and real-world data experiments.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti

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