Dynamic monocular machine vision
Machine Vision and Applications
Visual grasping with long delay time of a free floating object in orbit
Autonomous Robots
Determining Pose of 3D Objects With Curved Surfaces
IEEE Transactions on Pattern Analysis and Machine Intelligence
Model-Based Localisation and Recognition of Road Vehicles
International Journal of Computer Vision
CONDENSATION—Conditional Density Propagation forVisual Tracking
International Journal of Computer Vision
Fast and Globally Convergent Pose Estimation from Video Images
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Flexible New Technique for Camera Calibration
IEEE Transactions on Pattern Analysis and Machine Intelligence
Cooperative Navigation of Micro-Rovers Using Color Segmentation
Autonomous Robots
Real-Time Visual Tracking of Complex Structures
IEEE Transactions on Pattern Analysis and Machine Intelligence
Real-time tracking of image regions with changes in geometry and illumination
CVPR '96 Proceedings of the 1996 Conference on Computer Vision and Pattern Recognition (CVPR '96)
FG '00 Proceedings of the Fourth IEEE International Conference on Automatic Face and Gesture Recognition 2000
Real-Time Consensus-Based Scene Reconstruction Using Commodity Graphics Hardware
PG '02 Proceedings of the 10th Pacific Conference on Computer Graphics and Applications
Automatic Pose Estimation of Complex 3D Building Models
WACV '02 Proceedings of the Sixth IEEE Workshop on Applications of Computer Vision
ICPR '96 Proceedings of the International Conference on Pattern Recognition (ICPR '96) Volume IV-Volume 7472 - Volume 7472
A real-time tracker for markerless augmented reality
ISMAR '03 Proceedings of the 2nd IEEE/ACM International Symposium on Mixed and Augmented Reality
OpenGL(R) 1.4 Reference Manual (4th Edition)
OpenGL(R) 1.4 Reference Manual (4th Edition)
IEEE Transactions on Pattern Analysis and Machine Intelligence
Illumination Normalization with Time-Dependent Intrinsic Images for Video Surveillance
IEEE Transactions on Pattern Analysis and Machine Intelligence
Generalized Optical Flow in the Scale Space
ICIG '04 Proceedings of the Third International Conference on Image and Graphics
Patch-Duplets for Object Recognition and Pose Estimation
CRV '05 Proceedings of the 2nd Canadian conference on Computer and Robot Vision
Parameter-Free Radial Distortion Correction with Centre of Distortion Estimation
ICCV '05 Proceedings of the Tenth IEEE International Conference on Computer Vision - Volume 2
Point matching as a classification problem for fast and robust object pose estimation
CVPR'04 Proceedings of the 2004 IEEE computer society conference on Computer vision and pattern recognition
Switching observation models for contour tracking in clutter
CVPR'03 Proceedings of the 2003 IEEE computer society conference on Computer vision and pattern recognition
Integation methods of model-free features for 3d tracking
SCIA'05 Proceedings of the 14th Scandinavian conference on Image Analysis
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This paper presents a novel 3D-model-based computer-vision method for tracking the full six degree-of-freedom (dof) pose (position and orientation) of a rigid body, in real-time. The methodology has been targeted for autonomous navigation tasks, such as interception of or rendezvous with mobile targets. Tracking an object's complete six-dof pose makes the proposed algorithm useful even when targets are not restricted to planar motion (e.g., flying or rough-terrain navigation). Tracking is achieved via a combination of textured model projection and optical flow. The main contribution of our work is the novel combination of optical flow with z-buffer depth information that is produced during model projection. This allows us to achieve six-dof tracking with a single camera.A localized illumination normalization filter also has been developed in order to improve robustness to shading. Real-time operation is achieved using GPU-based filters and a new data-reduction algorithm based on colour-gradient redundancy, which was developed within the framework of our project. Colour-gradient redundancy is an important property of colour images, namely, that the gradients of all colour channels are generally aligned. Exploiting this property provides a threefold increase in speed. A processing rate of approximately 80 to 100 fps has been obtained in our work when utilizing synthetic and real target-motion sequences. Sub-pixel accuracies were obtained in tests performed under different lighting conditions.