Online camera pose estimation in partially known and dynamic scenes

One of the key requirements of augmented reality systems is a robust real-time camera pose estimation. In this paper we present a robust approach, which does neither depend on offline pre-processing steps nor on pre-knowledge of the entire target scene. The connection between the real and the virtual world is made by a given CAD model of one object in the scene. However, the model is only needed for initialization. A line model is created out of the object rendered from a given camera pose and registrated onto the image gradient for finding the initial pose. In the tracking phase, the camera is not restricted to the modeled part of the scene anymore. The scene structure is recovered automatically during tracking. Point features are detected in the images and tracked from frame to frame using a brightness invariant template matching algorithm. Several template patches are extracted from different levels of an image pyramid and are used to make the 2D feature tracking capable for larg...

• Type: Conference
• Year: 2006
• Where: ISMAR
• Authors: Gabriele Bleser, Harald Wuest, Didier Stricker
• Keywords: Augmented Reality, Camera Pose, Camera Pose Estimation, Feature Tracking, ISMAR 2006