Real-time Depth-based Tracking Using A Binocular Camera

doi:10.1109/WCICA.2016.7578274

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	Real-time Depth-based Tracking Using A Binocular Camera
	Zhang, Leijie; Cao, Zhiqiang; Meng, Xiangrui; Zhou, Chao; Wang, Shuo
	2016-06
会议日期	June 12-15, 2016
会议地点	Guilin, China
DOI	10.1109/WCICA.2016.7578274
英文摘要	Depth map provides rich information and it can be utilized in object tracking to handle some challenging problems in conventional RGB tracking such as occlusions and model drift. In this paper, we present a tracker that provides an effective real-time target tracking method based on a binocular camera. The proposed tracker is an extension of the popular KCF algorithm that leverages a circulant structure of tracking-by-detection with kernels for tracking. On this basis, we design a simple yet effective method to detect occlusions and recover tracking using noisy depth map obtained from a binocular camera. Firstly, one needs to identify exact and reasonable peak number of the target region’s depth histogram and apply GMM model to evaluate the depth distribution. The occlusion is then detected based on the depth evaluation and the maximum response from KCF. When the occlusion happens, it is segmented to build the corresponding search region for recovery. The experimental results demonstrate the effectiveness of the proposed method and the superiority to the KCF tracker.
内容类型	会议论文
源URL	[http://ir.ia.ac.cn/handle/173211/14798]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者	Cao, Zhiqiang
作者单位	State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences
推荐引用方式 GB/T 7714	Zhang, Leijie,Cao, Zhiqiang,Meng, Xiangrui,et al. Real-time Depth-based Tracking Using A Binocular Camera[C]. 见:. Guilin, China. June 12-15, 2016.