Real-time 3D target tracking and localization for arbitrary camera geometries

In this paper, we present a real-time 3-D tracking system which using two cameras with substantially arbitrary geometries. The primary goal of the proposed system is to capture incoming stereo vision feeds, examine and compare targets across the cameras, and using a derived camera calibration matrix, project them in real-world 3-D coordinates, in real time. The system is divided into two main components: Camera calibration, and tracking and cross-camera object matching. In the proposed system, algorithms such as 8-point feature matching form the basis for the camera calibration/pose estimation mechanism, while color histogram forms a robust feature for tracking across-camera The proposed system is robust and applicable to heterogeneous moving objects such as people, vehicles, and boats.