Robust Real-Time Visual Tracking: Comparison, Theoretical Analysis and Performance Evaluation

— In this paper, two real-time pose tracking algorithms for rigid objects are compared. Both methods are 3D-model based and are capable of calculating the pose between the camera and an object with a monocular vision system. Here, special consideration has been put into defining and evaluating different performance criteria such as computational efficiency, accuracy and robustness. Both methods are described and a unifying framework is derived. The main advantage of both algorithms lie in their real-time capabilities (on standard hardware) whilst being robust to miss-tracking, occlusion and changes in illumination.

• Type: Conference
• Year: 2005
• Where: ICRA
• Authors: Andrew I. Comport, Danica Kragic, Éric Marchand, François Chaumette
• Keywords: ICRA 2005, Monocular Vision System, Pose Tracking Algorithms, Rigid Objects, Robotics