Robust model-based motion tracking through the integration of search and estimation
International Journal of Computer Vision
IEEE Transactions on Pattern Analysis and Machine Intelligence
CONDENSATION—Conditional Density Propagation forVisual Tracking
International Journal of Computer Vision
MLESAC: a new robust estimator with application to estimating image geometry
Computer Vision and Image Understanding - Special issue on robusst statistical techniques in image understanding
Real-Time Visual Tracking of Complex Structures
IEEE Transactions on Pattern Analysis and Machine Intelligence
IMPSAC: Synthesis of Importance Sampling and Random Sample Consensus
IEEE Transactions on Pattern Analysis and Machine Intelligence
Real-Time Simultaneous Localisation and Mapping with a Single Camera
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Dynamic appearance model for particle filter based visual tracking
Pattern Recognition
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We present a method for efficiently generating a representation of a multi-modal posterior probability distribution. The technique combines ideas from RANSAC and particle filtering such that the 3D visual tracking problem can be partitioned into two levels, while maintaining multiple hypotheses throughout. A simple texture change-point detector finds multiple hypotheses for the position of image edgels. From these, multiple locations for each scene edge are generated. Finally, we determine the best pose of the whole structure. While the multi-modal representation is strongly related to particle filtering techniques, this approach is driven by data from the image. Hence the resulting system is able to perform robust visual tracking of all six degrees of freedom in real time. Real video sequences are used to compare the complete tracking system to previous systems.