3D Object tracking by pan-tilt moving cameras and robot using sparse template matching and particle filter

Abstract

This paper proposes an object tracking system using an arm robot and pan-tilt cameras. In order to detect an object whose position and pose are changed variously, we combine the sparse template matching and the particle filter methods. And the 3D positions of moving object can be obtained by the binocular stereo method. We configure the object tracking system and confirm the effectiveness of proposed method in experiments that the object moves surround of this system.