Visual Tracking Using Color Cameras and Time-of-Flight Range Imaging Sensors

Abstract

This work proposes two particle filter-based visual trackers — one using output images from a color camera and the other using images from a time-of-flight range imaging sensor. These proposed trackers were compared in order to identify the advantages and drawbacks of utilizing output images from the color camera as opposed to output from the time-of-flight range imaging sensor for the most efficient visual tracking. This paper is also unique in its novel mixture of efficient methods to produce two stable and reliable human trackers using the two cameras.