| Publication type: |
Article in Proceedings |
| Author: |
Oliver Birbach, Udo Frese |
| Editor: |
J. Piater, B. Schiele, M. Fritz |
| Title: |
A Multiple Hypothesis Approach for a Ball Tracking System |
| Book / Collection title: |
Computer Vision Systems |
| Volume: |
5815 |
| Page(s): |
435 – 444 |
| Series: |
Lecture Notes in Computer Science |
| Year published: |
2009 |
| Publisher: |
Springer |
| Abstract: |
This paper presents a computer vision system for tracking and predicting flying balls in 3-D from a stereo-camera. It pursues a “textbook-style†approach with a robust circle detector and probabilistic models for ball motion and circle detection handled by state-of-the-art estimation algorithms. In particular we use a Multiple-Hypotheses Tracker (MHT) with an Unscented Kalman Filter (UKF) for each track, handling multiple flying balls, missing and false detections and track initiation and termination. The system also performs auto-calibration estimating physical parameters (ball radius, gravity relative to camera, air drag) simply from observing some flying balls. This reduces the setup time in a new environment. |
| PDF Version: |
http://www.informatik.uni-bremen.de/agebv/downloads/published/birbach_icvs_09.pdf |
| Keywords: |
Balltracking MHT UKF Real-Time Circle Detection Tracking |
| Status: |
Reviewed |
| Last updated: |
03. 11. 2009 |
