Region-Based Pose Tracking

Authors:
Christian Schmaltz;Bodo Rosenhahn;Thomas Brox;Daniel Cremers;Joachim Weickert;Lennart Wietzke;Gerald Sommer
Affiliations:
Mathematical Image Analysis Group, Faculty of Mathematics and Computer Science, Building E1 1 Saarland University, 66041 Saarbrücken, Germany;Max-Planck Institute for Informatics, 66123 Saarbrücken, Germany;Department of Computer Science,University of Bonn, 53117 Bonn, Germany;Department of Computer Science,University of Bonn, 53117 Bonn, Germany;Mathematical Image Analysis Group, Faculty of Mathematics and Computer Science, Building E1 1 Saarland University, 66041 Saarbrücken, Germany;Institute of Computer Science, Christian-Albrecht-University, 24098 Kiel, Germany;Institute of Computer Science, Christian-Albrecht-University, 24098 Kiel, Germany
Venue:
IbPRIA '07 Proceedings of the 3rd Iberian conference on Pattern Recognition and Image Analysis, Part II
Year:
2007

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Abstract

This paper introduces a technique for region-based pose tracking without the need to explicitly compute contours. We assume a surface model of a rigid object and at least one calibrated camera view. The goal is to find the pose parameters that optimally fit the model surface to the contour of the object seen in the image. In contrast to conventional contour-based techniques, which acquire the contour to be extracted explicitly from the image, our approach optimizes an energy directly defined on the pose parameters. We show experimental results for rather challenging scenes observed with a monocular and a stereo camera system.