Moving Object Detection, Localization and Tracking Using Stereo Vison System

The aim of this study was to design an moving object detection, localization and tracking algorithm able to detect, localize and track especially humans and vehicles. We focused on triangulation techniques to calculate the position of the detected objects in a stereo vision rig coordinates frame. For objects detection and tracking the novel algorithm, based on statistical image processing methods, was proposed. Verification of a proper operation of the elaborated method was made by conducting series of experiments. Our results indicate that the algorithm localizes, detects and tracks objects accurately for the most tested conditions.