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http://dx.doi.org/10.5573/ieie.2015.52.1.089

Statistical Model of 3D Positions in Tracking Fast Objects Using IR Stereo Camera  

Oh, Jun Ho (Dept. of Computer and Software, Hanyang University)
Lee, Sang Hwa (Dept. Electronics Engineering and Computer Science, Seoul National University)
Lee, Boo Hwan (Agency for Defense Development)
Park, Jong-Il (Dept. of Computer and Software, Hanyang University)
Publication Information
Journal of the Institute of Electronics and Information Engineers / v.52, no.1, 2015 , pp. 89-101 More about this Journal
Abstract
This paper proposes a statistical model of 3-D positions when tracking moving targets using the uncooled infrared (IR) stereo camera system. The proposed model is derived from two errors. One is the position error which is caused by the sampling pixels in the digital image. The other is the timing jitter which results from the irregular capture-timing in the infrared cameras. The capture-timing in the IR camera is measured using the jitter meter designed in this paper, and the observed jitters are statistically modeled as Gaussian distribution. This paper derives an integrated probability distribution by combining jitter error with pixel position error. The combined error is modeled as the convolution of two error distributions. To verify the proposed statistical position error model, this paper has some experiments in tracking moving objects with IR stereo camera. The 3-D positions of object are accurately measured by the trajectory scanner, and 3-D positions are also estimated by stereo matching from IR stereo camera system. According to the experiments, the positions of moving object are estimated within the statistically reliable range which is derived by convolution of two probability models of pixel position error and timing jitter respectively. It is expected that the proposed statistical model can be applied to estimate the uncertain 3-D positions of moving objects in the diverse fields.
Keywords
Uncooled Infrared camera; Stereo matching; 3D Position; Jitter; Pixel error;
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