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Model-based object tracking with an infrared stereo camera
Örebro University, School of Science and Technology, Örebro University, Sweden.
2015 (English)Independent thesis Advanced level (degree of Master (Two Years)), 10 credits / 15 HE creditsStudent thesis
Abstract [en]

Object tracking has become really important in the field of robotics in the last

years. Frequently, the goal is to obtain the trajectory of the tracked target over

time and space by acquiring and processing information from the sensors.

In this thesis we are interested in tracking objects at a very short range. The

primary application of our approach is targeting the domain of object tracking

during grasp execution with a hand-in-eye sensor setup. To this end, a

promising approach investigated in this work is based on the Leap Motion

sensor, which is designed for tracking human hands. However, we are

interested in tracking grasped objects thus we need to extend its functionality.

The main goal of the thesis is to track the 3D position and orientation of an

object from a set of simple primitives (cubes, cylinders, triangles) over a video

sequence. That is the reason we have designed and developed two different

approaches for tracking objects with the Leap Motion device as stereo vision


Place, publisher, year, edition, pages
2015. , 76 p.
Keyword [en]
Stereo Vision, Tracking, Leap Motion, Robotics, Particle filter.
National Category
Computer and Information Science Other Computer and Information Science Computer and Information Science
URN: urn:nbn:se:oru:diva-45442OAI: diva2:844175
Subject / course
Computer Engineering
Available from: 2015-08-04 Created: 2015-08-04 Last updated: 2015-08-04Bibliographically approved

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School of Science and Technology, Örebro University, Sweden
Computer and Information ScienceOther Computer and Information ScienceComputer and Information Science

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