NDLI: Robust view-based visual tracking with detection of occlusions

Content Provider	IEEE Xplore Digital Library
Author	Ito, K. Sakane, S.
Copyright Year	2001
Description	Author affiliation: Dept. of Ind. & Syst. Eng., Chuo Univ., Tokyo, Japan (Ito, K.)
Abstract	Visual tracking plays an important role in various robotic tasks. We have developed a view-based visual tracking system to cope with change of the appearance of the template in a 3D environment using affine transformed templates. In view-based visual tracking, however, there are still critical situations in which the tracking fails because of occlusion by general objects and/or human hand in the environment, particularly in cases where humans and robots perform cooperative handling of objects. The paper presents two methods to cope with such occlusion problems. The first method detects the occlusion based on an evaluation of correlation errors in a tessellated template. The second method uses infrared images to detect the region occluded by human hand in the target template. The system then creates a mask of the occluded region and eliminates pixels in the mask from the calculation of correlation with the template image. In the prototype system, the generation of the mask and the correlation can be performed, typically, in one TV frame. We have integrated the proposed methods into the view-based visual tracking system which we have already developed. Experimental results demonstrate the usefulness of the proposed methods.
Sponsorship	IEEE Robotics & Autom. Soc
Starting Page	1207
Ending Page	1213
File Size	699942
Page Count	7
File Format	PDF
ISBN	0780365763
ISSN	10504729
DOI	10.1109/ROBOT.2001.932775
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2001-05-21
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robustness Target tracking Humans Infrared detectors Pixel Parametric statistics Robot sensing systems Robot vision systems Stereo vision Indium tin oxide
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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