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ICRA
2005
IEEE

A New Approach to the Use of Edge Extremities for Model-based Object Tracking

10 years 3 months ago
A New Approach to the Use of Edge Extremities for Model-based Object Tracking
— This paper presents a robust model-based visual tracking algorithm that can give accurate 3D pose of a rigid object. Our tracking algorithm uses an incremental pose update scheme in a prediction-verification framework. Extended Kalman filter is used to update the pose of a target incrementally to minimize the error between the expected map of the target model and the corresponding gradient edge in the image space. The main contributions of this paper include: 1) A novel approach to how we use the two extremities of straight-lines as features. By taking into account the measurement uncertainties associated with the locations of the extracted extremities of the straight-line, our approach can compare correctly two straight-lines of different lengths. 2) Our use of a test of mean criterion for initiating backtracking and our use of a variable threshold on the output of this criterion that makes nil-matching more effective. We have tested our tracking algorithm with image sequences c...
Youngrock Yoon, Akio Kosaka, Jae Byung Park, Avina
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Youngrock Yoon, Akio Kosaka, Jae Byung Park, Avinash C. Kak
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