Hybrid tracking approach using optical flow and pose estimation

Muriel Pressigout 1 Eric Marchand 2 Etienne Memin 3
2 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
3 VISTA - Vision spatio-temporelle et active
IRISA - Institut de Recherche en Informatique et Systèmes Aléatoires, Inria Rennes – Bretagne Atlantique
Abstract : This paper proposes an hybrid approach to estimate the 3D pose of an object. The integration of texture information based on image intensities in a more classical non-linear edge-based pose estimation computation has proven to highly increase the reliability of the tracker. We propose in this work to exploit the data provided by an optical flow algorithm for a similar purpose. The advantage of using the optical flow is that it does not require any a priori knowledge on the object appearance. The registration of 2D and 3D cues for monocular tracking is performed by a non linear minimization. Results obtained show that using optical flow enables to perform robust 3D hybrid tracking even without any texture model
Type de document :
Communication dans un congrès
IEEE Int. Conf. on Image Processing, ICIP'08, 2008, San Diego, California, France. 2008
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https://hal.inria.fr/inria-00351874
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Dernière modification le : mercredi 16 mai 2018 - 11:23:48
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2008_icip_pressigout.pdf
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  • HAL Id : inria-00351874, version 1

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Muriel Pressigout, Eric Marchand, Etienne Memin. Hybrid tracking approach using optical flow and pose estimation. IEEE Int. Conf. on Image Processing, ICIP'08, 2008, San Diego, California, France. 2008. 〈inria-00351874〉

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