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ICCV
2005
IEEE

Fusing Points and Lines for High Performance Tracking

14 years 2 months ago
Fusing Points and Lines for High Performance Tracking
This paper addresses the problem of real-time 3D modelbased tracking by combining point-based and edge-based tracking systems. We present a careful analysis of the properties of these two sensor systems and show that this leads to some non-trivial design choices that collectively yield extremely high performance. In particular, we present a method for integrating the two systems and robustly combining the pose estimates they produce. Further we show how on-line learning can be used to improve the performance of feature tracking. Finally, to aid real-time performance, we introduce the FAST feature detector which can perform full-frame feature detection at 400Hz. The combination of these techniques results in a system which is capable of tracking average prediction errors of 200 pixels. This level of robustness allows us to track very rapid motions, such as 50◦ camera shake at 6Hz.
Edward Rosten, Tom Drummond
Added 24 Jun 2010
Updated 24 Jun 2010
Type Conference
Year 2005
Where ICCV
Authors Edward Rosten, Tom Drummond
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