A direct method for real-time tracking in 3-d under variable illumination

Authors:
Wolfgang Sepp
Affiliations:
Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany
Venue:
PR'05 Proceedings of the 27th DAGM conference on Pattern Recognition
Year:
2005

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Abstract

3-D tracking of free-moving objects has to deal with brightness variations pronounced by the shape of the tracked surface. Pixel-based tracking techniques, though versatile, are particularly affected by such variations. Here, we evaluate two illumination-adaptive methods for a novel efficient pixel-based 3-D tracking approach. Brightness adaption by means of an illumination basis is compared to with a template update strategy with respect to both robustness and accuracy on tracking in 6 degrees-of-freedom.