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OBJECT TRACKING SYSTEM BY TWO PAN-TILT MOVING CAMERAS AND ARM ROBOT

Hiroyuki Ukida, Yoshio Tanimoto, Hideki Yamamoto

Abstract


We propose an object tracking system using an arm robot and two pan-tilt cameras. In this study, we use the active search method to detect the object location in images of cameras. Moreover, we estimate the 3D coordinates of this object from detected locations in images using the binocular stereo method. By using 3D object locations, the robot and cameras are rotated toward to the object. To realize the high speed performance, we use the parallel processing by the thread function for the processes of the object detection, the 3D coordinate estimation, the camera control and the robot control. We perform the object tracking experiments and confirm the efficiency of the proposed method.

Keywords


Object tracking; pan-tilt camera; arm robot; active search; stereo method; parallel processing

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References


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