A Unified Approach for Multi-Object Triangulation, Tracking and Camera Calibration

Object triangulation, 3-D object tracking, feature correspondence, and camera calibration are key problems for estimation from camera networks. This paper addresses these problems within a unified Bayesian framework for joint multi-object tracking and camera calibration, based on the finite set statistics methodology. In contrast to the mainstream approaches, an alternative parametrization is investigated for triangulation, called disparity space. The approach for feature correspondence is based on the probability hypothesis density (phd) filter, and hence inherits the ability to handle the initialization of new tracks as well as the discrimination between targets and clutter within a Bayesian paradigm. The phd filtering approach then forms the basis of a camera calibration method from static or moving objects. Results are shown on simulated and real data.