Engineering Commons^™

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 …

Extending Motion Detection To Track Stopped Objects In Visual Multi-Target Tracking, Jacob H. White, Karl T. Salva, Randal W. Beard

Student Works

Various solutions to visual multi-target tracking have been proposed, but many of them are not capable of running in real time from a moving camera on an unmanned aerial vehicle (UAV). We present a tracker that runs in real time and tracks multiple objects while accounting for camera motion on a UAV. Our algorithm is capable of processing over 10 frames per second on a 1280x720 video sequence.

We utilize Recursive-RANSAC, an efficient algorithm for tracking multiple objects in clutter. Our work combines motion detection with optical flow and feature matching to allow stationary objects to be tracked. We use …