A Method for Registration of 3-D Shapes
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
Zippered polygon meshes from range images
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
IEEE Transactions on Pattern Analysis and Machine Intelligence
International Journal of Computer Vision
ACM SIGGRAPH Computer Graphics
A Mathematical Introduction to Robotic Manipulation
A Mathematical Introduction to Robotic Manipulation
Adjusting Shape Parameters Using Model-Based Optical Flow Residuals
IEEE Transactions on Pattern Analysis and Machine Intelligence
Globally Consistent Range Scan Alignment for Environment Mapping
Autonomous Robots
Structure from Motion Causally Integrated Over Time
IEEE Transactions on Pattern Analysis and Machine Intelligence
Hierarchical Model-Based Motion Estimation
ECCV '92 Proceedings of the Second European Conference on Computer Vision
Robust Video Mosaicing through Topology Inference and Local to Global Alignment
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume II - Volume II
Expectation Propagation for approximate Bayesian inference
UAI '01 Proceedings of the 17th Conference in Uncertainty in Artificial Intelligence
Parametrized structure from motion for 3D adaptive feedback tracking of faces
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Robust Real-Time Face Detection
International Journal of Computer Vision
Registration of Multiple Point Sets
ICPR '96 Proceedings of the 13th International Conference on Pattern Recognition - Volume 2
Consistent, convergent, and constant-time SLAM
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
Multiview registration for large data sets
3DIM'99 Proceedings of the 2nd international conference on 3-D digital imaging and modeling
Adaptive view-based appearance models
CVPR'03 Proceedings of the 2003 IEEE computer society conference on Computer vision and pattern recognition
Multidimensional maximum-entropy covariance extension
IEEE Transactions on Information Theory
Matrices with banded inverses: inversion algorithms and factorization of Gauss-Markov processes
IEEE Transactions on Information Theory
Drift-correcting template update strategy for precision feature point tracking
Image and Vision Computing
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We present methods for turning pair-wise registration algorithms into drift-free trackers. Such registration algorithms are abundant, but the simplest techniques for building trackers on top of them exhibit either limited tracking range or drift. Our algorithms maintain the poses associated with a number of key frames, building a view-based appearance model that is used for tracking and refined during tracking. The first method we propose is batch oriented and is ideal for offline tracking. The second is suited for recovering egomotion in large environments where the trajectory of the camera rarely intersects itself, and in other situations where many views are necessary to capture the appearance of the scene. The third method is suitable for situations where a few views are sufficient to capture the appearance of the scene, such as object-tracking. We demonstrate the techniques on egomotion and head-tracking examples and show that they can track for an indefinite amount of time without accumulating drift.