Real-time optical edge and corner tracking at subpixel accuracy

Abstract

High position and orientation accuracy is required in augmented reality systems. This paper presents an extension to the well known XVision library for real-time tracking. We implement a real-time sub-pixel accuracy edge tracking algorithm estimating edge position and orientation based on “virtual edge” localization in a 5 × 5 window. In addition, we give a simple yet efficient heuristic for identifying corners. Experiments demonstrate results for sub-pixel edge and corner tracking superior to the original XVision primitives.