Real-time texture-based 3-D tracking

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Abstract

We present a tracking approach for textured surfaces which recovers the object motion in 6 degrees of freedom. We assume an arbitrary but known surface shape, and an image of the object at a known reference pose. We extend the 2-D tracking framework of Hager et al. [1] to tracking in 3-D and under full perspective projection. The algorithm is evaluated to ground-truth motion and shows high accuracy. Thanks to problem-specific optimizations we achive tracking at video-rate. © Springer-Verlag Berlin Heidelberg 2003.

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Sepp, W., & Hirzinger, G. (2003). Real-time texture-based 3-D tracking. Lecture Notes in Computer Science (Including Subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 2781, 330–337. https://doi.org/10.1007/978-3-540-45243-0_43

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