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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

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