||<tablewidth="1025px" -2 rowclass="rcdaybreak">'''A Multiple Hypothesis Approach for a Ball Tracking System'''<<BR>>Oliver Birbach and Udo Frese<<BR>>In Proceedings of the 7th International Conference on Computer Vision Systems, ICVS 2009. Liege, Belgium, October 13-15, 2009. ||
 ||'''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.<<BR>> 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. ||
 ||'''Example frames from the tracking results:''' <<BR>> {{attachment:capture1_web.jpg}} {{attachment:capture2_web.jpg}} ||
 ||'''Video:''' The video mentioned in the paper can be downloaded [[attachment:icvs09-large.avi | here]].||
 ||'''Contact:''' [[en/OliverBirbach|Oliver Birbach]] and [[en/UdoFrese|Udo Frese]]||