In this paper, we present a real-time 3-D tracking system which using two cameras with substantially arbitrary
geometries. The primary goal of the proposed system is to capture incoming stereo vision feeds, examine and compare
targets across the cameras, and using a derived camera calibration matrix, project them in real-world 3-D coordinates, in
real time. The system is divided into two main components: Camera calibration, and tracking and cross-camera object
matching. In the proposed system, algorithms such as 8-point feature matching form the basis for the camera
calibration/pose estimation mechanism, while color histogram forms a robust feature for tracking across-camera The
proposed system is robust and applicable to heterogeneous moving objects such as people, vehicles, and boats.
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