Fusing Points and Lines for High Performance Tracking

This paper addresses the problem of real-time 3D modelbased 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◦ camera shake at 6Hz.

• Type: Conference
• Year: 2005
• Where: ICCV
• Authors: Edward Rosten, Tom Drummond
• Keywords: Computer Vision, Edge-based Tracking Systems, Full-frame Feature Detection, ICCV 2005, Non-trivial Design Choices