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VISTA is a project whose overall objectives are strengthening of technology transfer and commercialization capacities of partner HEIs, transfer of existing computer vision applications from HEIs to SMEs, and developing new traffic- and transportation-related computer vision applications with commercial potential in collaboration with SMEs in the automotive industry sector.

The project is funded from the Regional Competitiveness Operational Programme 2007 - 2011 for Community Assistance under the IPA Regional Development Component in Croatia.

Published: 2014-03-26 at 14:46
Research seminar "Tracking of...

We invite you to a VISTA research seminar:


"Tracking of multiple moving objects on the unit sphere using a multiple-camera system on a mobile robot"


held by Josip Ćesić,  mag. ing. comp..


The seminar will be held on thursday 26.3.2014. at 14:15 in TCR.


More information about the seminar and about the speaker can be found in the detailed news content.


Detection and tracking of moving objects with camera systems mounted on a mobile robot presents a formidable problem since the ego-motion of the robot and the moving objects jointly form a challengingly discernible motion in the image. Here we are concerned with multiple-camera systems, namely the Ladybug2 camera, whose perspective images were used to detect motion and subsequently perform the tracking of multiple objects on the sphere. This enabled us to account for the continuity of the scene which is achieved by the sensor in an image stitching process on the sphere. The objects are tracked on the sphere with a Bayesian filter based on the von Mises-Fisher distribution and the data association is achieved by the global nearest neighbor method, for which the distance matrix is constructed by deriving the Rényi alpha-divergence for the von Mises-Fisher distribution. The prospects of the proposed method will be presented via experiments on a synthetic as well as real-world data.



Josip Ćesić has received his BSc and MSc degree in electrical engineering and information technology from University of Zagreb, Faculty of Electrical Engineering and Computing (UNIZG-FER) in 2011 and 2013, respectively. He fisnished the third semester of his master program at Chalmers University of Technology, Sweden, as an exchange student. He is currently employed at the Department of Control and Computer Engineering at UNIZG-FER as a research engineer within AMOR research group. His main research interests are in the areas of mobile robotics, estimation theory and image processing.

Iva Harbaš
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This project is cofinanced by the European Union from the European Regional Development Fund.


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