Model-based object tracking with an infrared stereo camera
Independent thesis Advanced level (degree of Master (Two Years)), 10 credits / 15 HE creditsStudent thesis
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.
Stereo Vision, Tracking, Leap Motion, Robotics, Particle filter.
Computer and Information Science Other Computer and Information Science Computer and Information Science
IdentifiersURN: urn:nbn:se:oru:diva-45442OAI: oai:DiVA.org:oru-45442DiVA: diva2:844175
Subject / course
Stoyanov, Todor, Forskarassistent
Magnusson, Martin, Universitetslektor