Object tracking with Kinect and FAST

This video shows the work in progress on an algorithm for tracking objects captured by a Kinect camera using the FAST framework. FAST now comes with a Kinect module which uses libfreenect2 to stream raw data from the Kinect camera directly into a FAST pipeline. The raw data consists of RGB image data as well as a point cloud captured by the depth sensors of kinect. The RGB image and depth data is registered so that we can retrieve the color of each 3D point as shown in the video.