Real-time self-calibrating stereo person tracking using 3-D shape estimation from blob features

We describe a method for estimation of 3D geometry from 2D blob features. Blob features are clusters of similar pixels in the image plane and can arise from similarity of color, texture, motion and other signal-based metrics. The motivation for considering such features comes from recent successes in real-time extraction and tracking of such blob features in complex cluttered scenes in which traditional feature finders fail, e.g. scenes containing moving people. We use nonlinear modeling and a combination of iterative and recursive estimation methods to recover 3D geometry from blob correspondences across multiple images. The 3D geometry includes the 3D shapes, translations, and orientations of blobs and the relative orientation of the cameras. Using this technique, we have developed a real-time wide-baseline stereo person tracking system which can self-calibrate itself from watching a moving person and can subsequently track people's head and hands with RIMS errors of 1-2 cm in translation and 2 degrees in rotation. The blob formulation is efficient and reliable, running at 20-30 Hz on a pair of SGI Indy R4400 workstations with no special hardware.