An Introduction to Model-Based Pose Estimation and 3-D Tracking Techniques

Abstract

The aim of this chapter is to present a general overview of the feature-based 3-D pose estimation and tracking techniques. Principles, classical techniques and recent advances are presented and discussed in the context of a monocular camera. The objective is to focus on techniques employed within both the visual servoing and registration fields for the wideclass of rigid objects. The main assumption to this problem rely on the availability of a 3-D model of the object to track.