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Application of Stereo Vision in Tracking

Application of Stereo Vision in Tracking. James Smith NSF REU- Summer 2011. *This research is supported by NSF Grant No. CNS 1005212. Opinions, findings, conclusions, or recommendations expressed in this paper are those of the author(s) and do not necessarily reflect the views of NSF.

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Application of Stereo Vision in Tracking

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  1. Application of Stereo Vision in Tracking James Smith NSF REU- Summer 2011 *This research is supported by NSF Grant No. CNS 1005212. Opinions, findings, conclusions, or recommendations expressed in this paper are those of the author(s) and do not necessarily reflect the views of NSF

  2. Overview • Definition and Uses • Related Work • Implementation • Research and Current Problems

  3. Definition • What is stereo vision? • Why is it used?

  4. Related Work • Multiple View Geometry in Computer Vision Richard Hartley, Andrew Zisserman • Robot Localization and Mapping • Human Interaction

  5. How It Works

  6. How It Works D = f * [ (b/(v1 + v2)) - 1] National Instruments, http://zone.ni.com/devzone/cda/tut/p/id/8176

  7. Left Camera Image Disparity Image

  8. Research and Problems • Optimized Object Detection • Single/Multiple Object Tracking

  9. Left Camera Image Disparity Image

  10. References • National Instruments – Developer Zone: Robotics Fundamentals, December 10, 2008 URL: http://zone.ni.com/cms/images/devzone/tut/tlmqnfhd36037.jpg • Se, S.; Lowe, D.; Little, J.; , "Vision-based mobile robot localization and mapping using scale-invariant features," Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on , vol.2, no., pp. 2051- 2058 vol.2, 2001 URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=932909&isnumber=20183 • Richard Hartley; Andrew Zisserman; “Multiple View Geometry in Stereo Vision”, 2003

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