A real-time tracker for markerless augmented reality

Augmented Reality has now progressed to the point where real-time applications are being considered and needed. At the same time it is important that synthetic elements are rendered and aligned in the scene in an accurate and visually acceptable way. In order to address these issues a real-time, robust and efficient 3D model-based tracking algorithm is proposed for a ’video see through’ monocular vision system. The tracking of objects in the scene amounts to calculating the pose between the camera and the objects. Virtual objects can then be projected into the scene using the pose. Here, non-linear pose computation is formulated by means of a virtual visual servoing approach. In this context, the derivation of point-to-curves interaction matrices are given for different features including lines, circles, cylinders and spheres. A local moving edges tracker is used in order to provide real-time tracking of points normal to the object contours. A method is proposed for combining loc...

• Type: Conference
• Year: 2003
• Where: ISMAR
• Authors: Andrew I. Comport, Éric Marchand, François Chaumette
• Keywords: Augmented Reality, Global Pose Uncertainty, ISMAR 2003, Model-based Tracking Algorithm, Non-linear Pose Computation