Tracking of a moving object with occlusion by using an active vision system
Takaya Hada, Tetsuo Miyake · Systems and Computers in Japan · 2003
Abstract A person can keep an object which moves according to rules in roughly the center of their field of vision at all times. Even if the object is occluded during its movement, the person can continue to track it by estimating its later motion. In this paper, this kind of human system is taken into consideration for an automatic monitoring system, and such a system is constructed using an active vision system with a pan and tilt rotary mechanism. In order to automatically monitor a scene over a wide area at high resolution, the object to be monitored must be tracked while changing the pan and tilt using active vision. The tracking principle used in this system consists of detecting a moving object and estimating its motion. Detection is accomplished by using a background subtraction method which uses a background database, and motion estimation is handled by a Kalman filter. An experiment is performed on a person in a typical room environment, and it is confirmed that the person can be tracked by the proposed system even when occluded. © 2003 Wiley Periodicals, Inc. Syst Comp Jpn, 34(13): 92–102, 2003; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/scj.1222