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Robust model-based tracking with multiple cameras for spatial applications

F. Dionnet 1 E. 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 efficient 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 computation 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.
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Submitted on : Tuesday, January 6, 2009 - 1:56:42 PM
Last modification on : Thursday, January 20, 2022 - 4:20:30 PM
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  • HAL Id : inria-00350286, version 1


F. Dionnet, E. Marchand. Robust model-based tracking with multiple cameras for spatial applications. 9th ESA Workshop on Advanced Space Technologies for Robotics and Automation, ASTRA 2006., 2006, Noordwijk, Netherlands. pp.287-294. ⟨inria-00350286⟩



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