TitleReal-time face and object tracking
Publication TypeConference Paper
Year of Publication2009
AuthorsFransen, BR, Herbst, EV, Harrison, AM, Adams, W, Trafton, JG
Conference NameIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Date Published10/2009
Conference LocationSt. Louis
Keywordsenabling technology, face recognition, human computer interaction, human-robot-interaction, object detection, object locations, object tracking, real-time face tracking, real-time systems, robotic applications, SLAM, SLAM (robots), tracking, tracking system

Tracking people and objects is an enabling technology for many robotic applications. From human-robot-interaction to SLAM, robots must know what a scene contains and how it has changed, and is changing, before they can interact with their environment. In this paper, we focus on the tracking necessary to record the 3D position and pose of objects as they change in real time. We develop a tracking system that is capable of recovering object locations and angles at speeds in excess of 60 frames per second, making it possible to track people and objects undergoing rapid motion and acceleration. Results are demonstrated experimentally using real objects and people and compared against ground truth data.

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