Multiple-Camera Tracking of Rigid Objects - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Reports (Research Report) Year : 2001

Multiple-Camera Tracking of Rigid Objects


In this paper we describe a method for tracking rigid objects using one or several cameras. The tracking process consists of aligning a 3-D model representation of an object with image contours by measuring and minimizing the image error between predicted model points and image contours. The tracker behaves like a visual servo loop where the internal and external camera parameters are updated at each new image acquisition. We study in detail the Jacobian matrix associated with this minimization process in the presence of both point-to-point and point-to-contour matches. We establish the minimal number of matches that are needed as well as the singular configurations leading to a rank-defficient Jacobian matrix. We find a mathematical link between the point-to-point and point-to-contour cases. Based on this link we show that the latter has the same kind of singularities than the former. Moreover, we study multiple camera configuratio- ns which optimize the robustness of the method in the presence of single-camer- a singularities, bad, noisy, or missing data. Extensive experiments done with a complex ship part and with up to three cameras validate the method. In particular we show that the tracker may well be used as a camera calibratio- n procedure.
Fichier principal
Vignette du fichier
RR-4268.pdf (162.6 Ko) Télécharger le fichier

Dates and versions

inria-00072319 , version 1 (23-05-2006)


  • HAL Id : inria-00072319 , version 1


Frédérick Martin, Radu Horaud. Multiple-Camera Tracking of Rigid Objects. [Research Report] RR-4268, INRIA. 2001. ⟨inria-00072319⟩
85 View
219 Download


Gmail Facebook X LinkedIn More