REAL-TIME OBJECT DETECTION, TRACKING, AND 3D POSITIONING IN A MULTIPLE CAMERA SETUP

Abstract. We introduce a real-time object positioning system that naturally combines detection, tracking, and 3D positioning in a multiple camera setup. Depending on the task, the detection, tracking, and positioning steps, when performed independently have limitations due to the loss of temporal and geometric constraints. We conjecture that the detection and tracking steps do not always estimate a correct solution due to incorrect matches, appearance variations or occlusions. In order to offset these problems, we use the geometry between the target object and cameras to refine detection and tracking result and provide persistent and reliable solution to 3D positioning. The geometry is introduced to the detection and tracking steps by simultaneously solving the 3D position of the target object by using a bundle adjustment step. Test results show that the system provides reliable solution at the speed of six to ten frames per second for a four high definition camera setup running on a single computer.