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2006
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Real-Time Camera Tracking Using Known 3D Models and a Particle Filter

11 years 28 days ago
Real-Time Camera Tracking Using Known 3D Models and a Particle Filter
We present an algorithm which can track the 3D pose of a hand held camera in real-time using predefined models of objects in the scene. The technique utilises and extends recently developed techniques for 3D tracking with a particle filter. The novelty is in the use of edge information for 3D tracking which has not been achieved before within a realtime Bayesian sampling framework. We develop a robust tracker by carefully designing the particle filter observation model: grouping line segments from a known model into 3D junctions and performing fast inlier/outlier counts on projected junction branches. Results demonstrate the ability to track full 3D pose in dense clutter whilst using a minimal number of junctions.
Mark Pupilli, Andrew Calway
Added 09 Nov 2009
Updated 09 Nov 2009
Type Conference
Year 2006
Where ICPR
Authors Mark Pupilli, Andrew Calway
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