liu.seSearch for publications in DiVA
Change search
ReferencesLink to record
Permanent link

Direct link
Implementation and evaluation of a 3D tracker
Linköping University, Department of Electrical Engineering, Computer Vision. Linköping University, The Institute of Technology.
2014 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesisAlternative title
Implementation och utvärdering av en 3D tracker (Swedish)
Abstract [en]

Many methods have been developed for visual tracking of generic objects. The vast majority of these assume the world is two-dimensional, either ignoring the third dimension or only dealing with it indirectly. This causes difficulties for the tracker when the target approaches or moves away from the camera, is occluded or moves out of the camera frame.

Unmanned aerial vehicles (UAVs) are increasingly used in civilian applications and some of these will undoubtedly carry tracking systems in the future. As they move around, these trackers will encounter both scale changes and occlusions. To improve the tracking performance in these cases, the third dimension should be taken into account.

This thesis extends the capabilities of a 2D tracker to three dimensions, with the assumption that the target moves on a ground plane.

The position of the tracker camera is established by matching the video it produces to a sparse point-cloud map built with off-the-shelf structure-from-motion software. A target is tracked with a generic 2D tracker and subsequently positioned on the ground. Should the target disappear from view, its motion on the ground is predicted. In combination, these simple techniques are shown to improve the robustness of a tracking system on a moving platform under target scale changes and occlusions.

Place, publisher, year, edition, pages
2014. , 54 p.
Keyword [en]
3D, visual object tracking, tracking, unmanned aerial vehicle, UAV, structure from motion
National Category
Computer Vision and Robotics (Autonomous Systems)
URN: urn:nbn:se:liu:diva-111887ISRN: LiTH-ISY-EX--14/4800--SEOAI: diva2:761603
Subject / course
Computer Vision Laboratory
Available from: 2014-11-10 Created: 2014-11-07 Last updated: 2014-11-11Bibliographically approved

Open Access in DiVA

fulltext(7417 kB)312 downloads
File information
File name FULLTEXT01.pdfFile size 7417 kBChecksum SHA-512
Type fulltextMimetype application/pdf

Search in DiVA

By author/editor
Robinson, Andreas
By organisation
Computer VisionThe Institute of Technology
Computer Vision and Robotics (Autonomous Systems)

Search outside of DiVA

GoogleGoogle Scholar
Total: 312 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Total: 232 hits
ReferencesLink to record
Permanent link

Direct link