论文标题
通过融合两个摄像机的跟踪结果，对移动机器人的三维人类跟踪
Three-dimensional Human Tracking of a Mobile Robot by Fusion of Tracking Results of Two Cameras
论文作者
论文摘要
本文提出了一个使用两个摄像机获得人类跟踪目标对象的三维（3D）信息的过程。集成了两个相机的人类检测和跟踪结果以获取3D信息。敞口用于人类检测。在一般处理立体声摄像机的情况下，尽可能精确地获取整个场景的范围图像，然后处理范围图像。但是，存在一些问题，例如校准过程中的匹配和计算成本不正确。提出了一个新的立体声视觉框架来应对问题。通过目标跟踪实验来验证所提出的框架和方法的有效性。
This paper proposes a process that uses two cameras to obtain three-dimensional (3D) information of a target object for human tracking. Results of human detection and tracking from two cameras are integrated to obtain the 3D information. OpenPose is used for human detection. In the case of a general processing a stereo camera, a range image of the entire scene is acquired as precisely as possible, and then the range image is processed. However, there are problems such as incorrect matching and computational cost for the calibration process. A new stereo vision framework is proposed to cope with the problems. The effectiveness of the proposed framework and the method is verified through target-tracking experiments.
