'YOU CAN RUN, BUT YOU CANNOT HIDE': TRACKING OBJECTS THAT LEAVE THE FIELD-OF-VIEW

Abstract

In the past, there has been significant research on tracking objects based on features that characterize objects. However, once the features to detect the object are not available from the position of a tracker, it is not clear how to track the object. Our goal in this paper is to track an object even though the object leaves the field-of-view. In this paper, we first describe the problems related to this type of tracking. We then explain our approach that has two phases: Real object tracking and virtual object tracking. We mostly focus on virtual object tracking that requires reorientation, distance estimation, traveling the computed distance, estimating the direction for turn, and turning into the direction. We show our results by building a robot that achieves these.