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A robust model-based tracker combining geometrical and color edge information

Antoine Petit 1 Eric Marchand 1 Keyvan Kanani 2
1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : This paper focuses on the issue of estimating the complete 3D pose of the camera with respect to a potentially textureless object, through model-based tracking. We propose to robustly combine complementary geometrical and color edge- based features in the minimization process, and to integrate a multiple-hypotheses framework in the geometrical edge-based registration phase. In order to deal with complex 3D models, our method takes advantage of GPU acceleration. Promising results, outperforming classical state-of-art approaches, have been obtained for space robotics applications on various real and synthetic image sequences and using satellite mock-ups as targets.
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Submitted on : Friday, July 19, 2013 - 4:17:45 PM
Last modification on : Wednesday, June 16, 2021 - 3:41:58 AM
Long-term archiving on: : Monday, October 21, 2013 - 11:01:12 AM

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Antoine Petit, Eric Marchand, Keyvan Kanani. A robust model-based tracker combining geometrical and color edge information. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'2013, Nov 2013, Tokyo, Japan. pp.3719-3724. ⟨hal-00846683⟩

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