Skip to Main content Skip to Navigation
Conference papers

Real-time 3D model-based tracking: Combining edge and texture information

Muriel Pressigout 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. A non linear minimization approach is used to register 2D and 3D cues for monocular 3D tracking. The integration of texture information in a more classical non-linear edge-based pose computation highly increases the reliability of more conventional edge-based 3D tracker. Robustness is enforced by integrating a M-estimator into the minimization process via an iteratively re-weighted least squares implementation. The method presented in this paper has been validated on several video sequences as well as in visual servoing experiments considering various objects. Results show the method to be robust to large motions and textured environments.
Document type :
Conference papers
Complete list of metadata

Cited literature [27 references]  Display  Hide  Download

https://hal.inria.fr/inria-00350321
Contributor : Eric Marchand <>
Submitted on : Tuesday, January 6, 2009 - 2:21:36 PM
Last modification on : Wednesday, December 18, 2019 - 4:58:41 PM
Long-term archiving on: : Tuesday, June 8, 2010 - 5:19:43 PM

File

2006_icra_pressigout.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : inria-00350321, version 1

Citation

Muriel Pressigout, E. Marchand. Real-time 3D model-based tracking: Combining edge and texture information. IEEE Int. Conf. on Robotics and Automation, ICRA'06, 2006, Orlando, Florida, United States. pp.2726-2731. ⟨inria-00350321⟩

Share

Metrics

Record views

532

Files downloads

735