3-D motion tracking using stereo camera and range radar
Stelios C. A. Thomopoulos, Lars Nillson · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1990
The problem of estimating the position of and tracking an object undergoing 3-D translational and rotational motion using passive and active sensors is considered. The passive sensor used in this study is a stereo camera, whereas the active is a range radar. Three different estimation approaches are considered. The first involves estimation of the object position by direct registration of stereo images. In the second approach, the Extended Kalman Filter is used for estimation with measurements the stereo images. In the third approach, an integral filter based on stereo images and range radar measurements is used for tracking. The three different approaches are compared via simulation in the tracking of an object undergoing a 3-D motion with random translational and angular accelaration.