Dynamic Composition of Tracking Primitives for Interactive Vision-Guided Navigation

We present a system architecture for robust target following with a mobile robot. The system is based on tracking multiple cues in binocular stereo images using the XVision toolkit [1]. Fusion of complementary information in the images, including texture, color and depth, combined with a fast optimized processing reduces the possibility of loosing the tracked object in a dynamic scene with several moving targets on intersecting paths. The presented syste