Hybrid tracking algorithms for planar and non-planar structures subject to illumination changes

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 : Augmented Reality (AR) aims to fuse a virtual world and a real one in an image stream. When considering only a vision sensor, it relies on registration techniques that have to be accurate and fast enough for on-line augmentation. This paper proposes a real-time, robust and efficient 3D model-based tracking algorithm for a 'video see through' monocular vision system. A virtual visual servoing approach is used to estimate the pose between the camera and the object. The integration of texture information in the classical non-linear edge-based pose computation provides a more reliable tracker. Several illumination models have been considered and compared to better deal with the illumination change in the scene. Robustness is enforced by integrating a M-estimator into the virtual visual control law via an iteratively re-weighted least squares implementation. The method presented in this paper has been validated on several video sequences for augmented reality applications. Results show the method to be robust to large motions and textured environments.
Type de document :
Communication dans un congrès
ACM/IEEE Int. Symp. on Mixed and Augmented Reality, ISMAR'06, 2006, Santa Barbara, California, France. pp.52-55, 2006
Liste complète des métadonnées

Littérature citée [26 références]  Voir  Masquer  Télécharger

https://hal.inria.fr/inria-00350322
Contributeur : Eric Marchand <>
Soumis le : mardi 6 janvier 2009 - 14:21:37
Dernière modification le : mercredi 16 mai 2018 - 11:23:03
Document(s) archivé(s) le : mardi 8 juin 2010 - 18:41:38

Fichier

2006_ismar_pressigout.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : inria-00350322, version 1

Citation

Muriel Pressigout, E. Marchand. Hybrid tracking algorithms for planar and non-planar structures subject to illumination changes. ACM/IEEE Int. Symp. on Mixed and Augmented Reality, ISMAR'06, 2006, Santa Barbara, California, France. pp.52-55, 2006. 〈inria-00350322〉

Partager

Métriques

Consultations de la notice

322

Téléchargements de fichiers

192