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Paper Abstract and Keywords
Presentation 2013-01-24 14:45
Depth-based active object tracking
Yoshiaki Shimada, Toshikazu Wada (Wakayama Univ.) PRMU2012-117 MVE2012-82
Abstract (in Japanese) (See Japanese page) 
(in English) This paper presents an active tracking system that only uses depth image taken by Kinect. From the view point of Kinect, flexible software libraries including human detection and human-pose estimation cannot be applied when target people go outside of the viewing area, and the active tracking system solve or relax this problem. From the active-tracking -system viewpoint, different from other cameras, Kinect can take depth image in indoor scene independent of illumination conditions. This implies that the tracking system can keep tracking even in complete darkness. For single camera tracking system, Fixed Viewpoint Camera (FVC) setting, which does not change the 3D viewpoint under rotation, is useful for active tracking, because the rotation angle to keep target inside the image frame can directly computed from the 2D image position on the image plane. In the case of Kinect, however, we don’t have to use FVC settings if we know the relative viewpoint position from the rotation center, because 3D positional information is directly obtained from the sensor. First, we present the calibration method to know the relative position. Next, we present a 3D blob-tracking method based on mean-shift. Since this method uses 3D window function, the object separability from its background and the stability are both good when the target shape is roughly convex. As a tracking method using more precise 3D model, this paper also presents spin-image based tracking algorithm. Through the experiment, we discuss what method should be used for specific tasks.
Keyword (in Japanese) (See Japanese page) 
(in English) Kinect / depth image / active tracking / mean shift / spin image / / /  
Reference Info. IEICE Tech. Rep., vol. 112, no. 385, PRMU2012-117, pp. 299-304, Jan. 2013.
Paper # PRMU2012-117 
Date of Issue 2013-01-16 (PRMU, MVE) 
ISSN Print edition: ISSN 0913-5685  Online edition: ISSN 2432-6380
Copyright
and
reproduction
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (No. 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF PRMU2012-117 MVE2012-82

Conference Information
Committee PRMU MVE IPSJ-CVIM  
Conference Date 2013-01-23 - 2013-01-24 
Place (in Japanese) (See Japanese page) 
Place (in English)  
Topics (in Japanese) (See Japanese page) 
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Paper Information
Registration To PRMU 
Conference Code 2013-01-PRMU-MVE-CVIM 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Depth-based active object tracking 
Sub Title (in English)  
Keyword(1) Kinect  
Keyword(2) depth image  
Keyword(3) active tracking  
Keyword(4) mean shift  
Keyword(5) spin image  
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1st Author's Name Yoshiaki Shimada  
1st Author's Affiliation Wakayama University (Wakayama Univ.)
2nd Author's Name Toshikazu Wada  
2nd Author's Affiliation Wakayama University (Wakayama Univ.)
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Speaker
Date Time 2013-01-24 14:45:00 
Presentation Time 30 
Registration for PRMU 
Paper # IEICE-PRMU2012-117,IEICE-MVE2012-82 
Volume (vol) IEICE-112 
Number (no) no.385(PRMU), no.386(MVE) 
Page pp.299-304 
#Pages IEICE-6 
Date of Issue IEICE-PRMU-2013-01-16,IEICE-MVE-2013-01-16 


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