Stereo tracking

The object tracking is one of the most important tasks in robots that allows to work necessarily with its environment. The stereo object tracking has the same objective that the monocular object tracking with the exception that in this case is also calculated the object depth. To guarantee the tracking of some object, it is necessary that the controller which moves the motors of the vision system acts in intervals smaller to the time constant of the movements of the tracked object. In this work we present a solution to the object tracking problem with depth measurement that allows under delay conditions to have a good performance in real time.