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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.
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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⟩

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