A Maximum Likelihood Framework for Determining Moving Edges
IEEE Transactions on Pattern Analysis and Machine Intelligence
Visual servoing-based augmented reality
IWAR '98 Proceedings of the international workshop on Augmented reality : placing artificial objects in real scenes: placing artificial objects in real scenes
Real-Time Markerless Tracking for Augmented Reality: The Virtual Visual Servoing Framework
IEEE Transactions on Visualization and Computer Graphics
CI-graph: an efficient approach for large scale SLAM
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Conic fitting using the geometric distance
ACCV'07 Proceedings of the 8th Asian conference on Computer vision - Volume Part II
3D model based tracking for omnidirectional vision: A new spherical approach
Robotics and Autonomous Systems
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Robot vision has a lot to win as well with wide field of view induced by catadioptric cameras as with redundancy brought by stereovision. Merging these two characteristics in a single sensor is obtained by combining a single camera and multiple mirrors. This paper proposes a 3D model tracking algorithm that allows a robust tracking of 3D objects using stereo catadioptric images given by this sensor. The presented work relies on an adapted virtual visual servoing approach, a non-linear pose computation technique. The model take into account central projection and multiple mirrors. Results show robustness in illumination changes, mistracking and even higher robustness with four mirrors than with two.