Study On Multi-Object Tracking Method Based On Stereo Vision

Vision with dual-camera is often called binocular stereo vision. Binocular stereo vision is a resemblance to the visual perception procedure of mankind and it is a core research area in computer vision. It means that two cameras on different locations from dissimilar view angles shoot the same scene to get the parallax according to which the space position information to the object center point is calculated. The study of binocular vision includes cameras calibration, image processing, stereo matching, three-dimensional reconstruction and moving object analysis.In this thesis, binocular stereo vision is used for moving target detection and tracking, which is one of the most popular research topics in computer vision and digital video. Our purpose is mainly researches on detecting the moving objects in stereo image pairs with binocular vision technology, and tracking the object in the image sequence. The main work can be summarized as follows:The theories and techniques related to binocular stereo imaging based on computer stereo vision are firstly studied. Based on this foundational work, a binocular stereo system is proposed and the properties of this system are thoroughly discussed. Experiments done later in this thesis are based on this system.Stereo matching is the most important part in stereo vision, so in the second part of the thesis, firstly we summarize the contents and methods of stereo matching. Then, we give two examples of stereo matching method which are most commonly used, and also analyze the shortcomings of the stereo matching methods. We also do some improvements to these methods. Finally, depth information is restored with parallax through stereo matching.Finally, the binocular stereo vision technology is applied to moving objects detection and tracking. The distance information of the moving object was acquired from parallax map. This extensive information makes the tracking system be more practical in real-world applications. The study of binocular stereo vision will lay foundation for the further researches of advanced target detecting and tracking or robotic artificial intelligence.