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Full-Text Articles in Engineering
An Iterative Five-Point Algorithm With Application To Multi-Target Tracking, Jacob H. White, Randal W. Beard
An Iterative Five-Point Algorithm With Application To Multi-Target Tracking, Jacob H. White, Randal W. Beard
Student Works
We present ReSORtSAC: Recursively-seeded optimization, refinement, sample, and consensus. ReSORtSAC is a novel algorithm that can be used to estimate the relative pose between consecutive frames of a video sequence. Relative pose estimation algorithms typically generate a large number of hypotheses from minimum subsets and score them in order to be robust to noise and outliers. The relative pose is often represented using the essential matrix. Previous methods calculate essential matrix hypotheses directly without utilizing prior information. These equations are complex to evaluate and can return up to ten essential matrix solutions for each minimum subset, all of which must …
Real-Time Visual Multi-Target Tracking In Realistic Tracking Environments, Jacob Harley White
Real-Time Visual Multi-Target Tracking In Realistic Tracking Environments, Jacob Harley White
Theses and Dissertations
This thesis focuses on visual multiple-target tracking (MTT) from a UAV. Typical state-of-the-art multiple-target trackers rely on an object detector as the primary detection source. However, object detectors usually require a GPU to process images in real-time, which may not be feasible to carry on-board a UAV. Additionally, they often do not produce consistent detections for small objects typical of UAV imagery.In our method, we instead detect motion to identify objects of interest in the scene. We detect motion at corners in the image using optical flow. We also track points long-term to continue tracking stopped objects. Since our motion …