High Speed and Wide Range Object Tracking System Using Pan-Tilt Cameras and Arm Robot

摘要

In this paper, we propose a new object tracking system using an arm robot and two pan-tilt cameras in order to realize a high speed and wide range moving object tracking. Here, we employ "the active search method” to detect the object in the images of cameras. And, we estimate the 3D coordinates of this object from detected localocations in images using the binocular stereo method. By using 3D object locations, the robot and cameras are rotated toward to the object. To realize the high speed performance, we use the parallel processing by the thread function for the processes of the object detection, 3D coordinate estimation, the camera control and the robot control. We perform the object tracking experiments and confirm the efficiency of the proposed method.