JRM Vol.34 No.5 pp. 1073-1084
doi: 10.20965/jrm.2022.p1073


Multiple High-Speed Vision for Identical Objects Tracking

Masahiro Hirano*, Keigo Iwakuma**, and Yuji Yamakawa***

*Institute of Industrial Science, The University of Tokyo
4-6-1 Komaba, Meguro-ku, Tokyo 153-8505, Japan

**GA technologies
3-2-1 Roppongi, Minato-ku, Tokyo 106-6290, Japan

***Interfaculty Initiative in Information Studies, The University of Tokyo
4-6-1 Komaba, Meguro-ku, Tokyo 153-8505, Japan

March 15, 2022
August 10, 2022
October 20, 2022
identical objects tracking, multiple high-speed vision, occlusion handling

In multi-object tracking of identical objects, it is difficult to return to tracking after occlusions occur due to three-dimensional intersections between objects because the objects cannot be distinguished by their appearances. In this paper, we propose a method for multi-object tracking of identical objects using multiple high-speed vision systems. By using high-speed vision, we take advantage of the fact that tracking information, such as the position of each object in each camera and the presence or absence of occlusion, can be obtained with high time density. Furthermore, we perform multi-object tracking of identical objects by efficiently performing occlusion handling using geometric constraints satisfied by multiple high-speed vision systems; these can be used by appropriately positioning them with respect to the moving region of the object. Through experiments using table-tennis balls as identical objects, this study shows that stable multi-object tracking can be performed in real time, even when frequent occlusions occur.

Identical objects tracking

Identical objects tracking

Cite this article as:
M. Hirano, K. Iwakuma, and Y. Yamakawa, “Multiple High-Speed Vision for Identical Objects Tracking,” J. Robot. Mechatron., Vol.34 No.5, pp. 1073-1084, 2022.
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