This paper addresses the problem of real-time 3D model-based tracking by combining point-based and edge-based tracking systems. We present a careful analysis of the properties of these two sensor systems and show that this leads to some non -trivial design choices that collectively yield extremely high performance. In particular, we present a method for integrating the two systems and robustly combining the pose estimates they produce. Further we show how on-line learning can be used to improve the performance of feature tracking. Finally, to aid real-time performance, we introduce the FAST feature detector which can perform full-frame feature detection at 400Hz. The combination of these techniques results in a system which is capable of tracking average prediction errors of 200 pixels. This level of robustness allows us to track very rapid motions, such as 50/spl deg/ camera shake at 6Hz.
Fusing points and lines for high performance tracking
Tenth IEEE International Conference on Computer Vision (ICCV'05) Volume 1 ; 2 ; 1508-1515 Vol. 2
2005-01-01
2791378 byte
Conference paper
Electronic Resource
English
Fusing Points and Lines for High Performance Tracking
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