Skip to Main content Skip to Navigation
Conference papers

Robust real-time visual tracking: Comparison, theoretical analysis and performance evaluation

Andrew Comport 1 D. Kragic 2 E. Marchand 1 François Chaumette 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 : In this paper, two real-time pose tracking algorithms of rigid objects are compared. Both methods are 3D-model based and are capable of calculating the pose between the camera and an object with a monocular vision system. Here, special consideration has been put on defining and evaluating different performance criteria such as computational efficiency, accuracy and robustness. Both methods are described and a unifying framework is derived. The main advantage of both algorithms lie in their real-time capabilities (on standard hardware) whilst being robust to miss-tracking, occlusion and changes in illumination.
Document type :
Conference papers
Complete list of metadata

Cited literature [13 references]  Display  Hide  Download
Contributor : Eric Marchand <>
Submitted on : Monday, January 12, 2009 - 10:23:02 AM
Last modification on : Tuesday, June 15, 2021 - 4:15:44 PM
Long-term archiving on: : Tuesday, June 8, 2010 - 5:39:23 PM


Publisher files allowed on an open archive


  • HAL Id : inria-00351885, version 1


Andrew Comport, D. Kragic, E. Marchand, François Chaumette. Robust real-time visual tracking: Comparison, theoretical analysis and performance evaluation. IEEE Int. Conf. on Robotics and Automation, ICRA'05, 2005, Barcelona, Spain, France. pp.2852-2857. ⟨inria-00351885⟩



Record views


Files downloads