A Moment-based 3D Object Tracking Algorithm for High-speed Vision

— In this paper we propose a method of realizing continuous tracking of a three-dimensional object by calculating moments of a translating and rotating object whose shape is known, either analytically or by using a table, and matching them with those of the input image. In simulation, the position and orientation is accurately recognized. Using a noise model and particle filter, we show that the position and orientation can be recognized even with noisy images.

• Type: Conference
• Year: 2007
• Where: ICRA
• Authors: Takashi Komuro, Masatoshi Ishikawa
• Keywords: Continuous Tracking, ICRA 2007, Input Image, Robotics, Three-dimensional Object