Implementation and evaluation of a 3D tracker
Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesisAlternative title
Implementation och utvärdering av en 3D tracker (Swedish)
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.
3D, visual object tracking, tracking, unmanned aerial vehicle, UAV, structure from motion
Computer Vision and Robotics (Autonomous Systems)
IdentifiersURN: urn:nbn:se:liu:diva-111887ISRN: LiTH-ISY-EX--14/4800--SEOAI: oai:DiVA.org:liu-111887DiVA: diva2:761603
Subject / course
Computer Vision Laboratory