Tracking Unobservable Rotations by Cue Integration

— Model based object tracking has earned significant importance in areas such as augmented reality, surveillance, visual servoing, robotic object manipulation and grasping. Although an active research area, there are still few systems that perform robustly in realistic settings. The key problems to robust and precise object tracking are outliers caused by occlusion, self-occlusion, cluttered background, and reflections. Two most common solutions to the above problems have been the use of robust estimators and the integration of visual cues. The tracking system considered in this paper achieves robustness by integrating model-based and model-free cues. As modelbased cues, we consider a CAD model of the object known a priori and as model-free cues, automatically generated corner features are used. The main idea is to account for relative object motion between consecutive frames using integration of the two cues. The particular contribution of this work is the integration framework wh...

• Type: Conference
• Year: 2006
• Where: ICRA
• Authors: Ville Kyrki, Danica Kragic
• Keywords: ICRA 2006, Model Based Object, Model-free Cues, Object Tracking, Robotics