Improving multitarget tracking using orientation estimates for sorting bulk materials

Optical belt sorters can be used to sort a large variety of bulk materials. By the use of sophisticated algorithms, the performance of the complex machinery can be further improved. Recently, we have proposed an extension to industrial optical belt sorters that involves tracking the individual particles on the belt using an area scan camera. If the estimated behavior of the particles matches the true behavior, the reliability of the separation process can be improved. The approach relies on multitarget tracking using hard association decisions between the tracks and the measurements. In this paper, we propose to include the orientation in the assessment of the compatibility of a track and a measurement. This allows us to achieve more reliable associations, facilitating a higher accuracy of the tracking results.