Robust stereo tracking for space applications.

F. Dionnet 1 Eric Marchand 1
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 proposes a real-time, robust and effi- cient 3D model-based tracking algorithm for visual servoing. A virtual visual servoing approach is used for 3D tracking. This method is similar to more classical non-linear pose computa- tion techniques. Robustness is obtained by integrating an M- estimator into the virtual visual control law via an iteratively re- weighted least squares implementation. The presented approach is also extended to the use of multiple cameras. Results show the method to be robust to occlusion, changes in illumination and miss-tracking.
Type de document :
Communication dans un congrès
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'07, Nov 2007, San Diego, United States. pp.3373-3378, 2007
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Soumis le : jeudi 6 mars 2008 - 17:46:02
Dernière modification le : mercredi 16 mai 2018 - 11:23:03
Document(s) archivé(s) le : vendredi 21 mai 2010 - 00:00:58

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  • HAL Id : inria-00261402, version 1

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F. Dionnet, Eric Marchand. Robust stereo tracking for space applications.. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'07, Nov 2007, San Diego, United States. pp.3373-3378, 2007. 〈inria-00261402〉

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