A Computational Approach to Edge Detection
IEEE Transactions on Pattern Analysis and Machine Intelligence
CONDENSATION—Conditional Density Propagation forVisual Tracking
International Journal of Computer Vision
Means and Averaging in the Group of Rotations
SIAM Journal on Matrix Analysis and Applications
On sequential Monte Carlo sampling methods for Bayesian filtering
Statistics and Computing
Real-Time Visual Tracking of Complex Structures
IEEE Transactions on Pattern Analysis and Machine Intelligence
Shape Indexing Using Approximate Nearest-Neighbour Search in High-Dimensional Spaces
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Combining Edge and Texture Information for Real-Time Accurate 3D Camera Tracking
ISMAR '04 Proceedings of the 3rd IEEE/ACM International Symposium on Mixed and Augmented Reality
Dynamic Measurement Clustering to Aid Real Time Tracking
ICCV '05 Proceedings of the Tenth IEEE International Conference on Computer Vision - Volume 2
Fusing Points and Lines for High Performance Tracking
ICCV '05 Proceedings of the Tenth IEEE International Conference on Computer Vision - Volume 2
Real-Time Camera Tracking Using Known 3D Models and a Particle Filter
ICPR '06 Proceedings of the 18th International Conference on Pattern Recognition - Volume 01
Incremental Learning for Robust Visual Tracking
International Journal of Computer Vision
Speeded-Up Robust Features (SURF)
Computer Vision and Image Understanding
EPnP: An Accurate O(n) Solution to the PnP Problem
International Journal of Computer Vision
Real-time Rigid-body Visual Tracking in a Scanning Electron Microscope
International Journal of Robotics Research
Visual Tracking via Particle Filtering on the Affine Group
International Journal of Robotics Research
CAD Model-based Tracking and 3D Visual-based Control for MEMS Microassembly
International Journal of Robotics Research
Smart particle filtering for 3D hand tracking
FGR' 04 Proceedings of the Sixth IEEE international conference on Automatic face and gesture recognition
Error propagation on the Euclidean group with applications to manipulator kinematics
IEEE Transactions on Robotics
Robust multi-hypothesis 3D object pose tracking
ICVS'13 Proceedings of the 9th international conference on Computer Vision Systems
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We present a 3D model-based visual tracking approach using edge and keypoint features in a particle filtering framework. Recently, particle-filtering-based approaches have been proposed to integrate multiple pose hypotheses and have shown good performance, but most of the work has made an assumption that an initial pose is given. To ameliorate this limitation, we employ keypoint features for initialization of the filter. Given 2D-3D keypoint correspondences, we randomly choose a set of minimum correspondences to calculate a set of possible pose hypotheses. Based on the inlier ratio of correspondences, the set of poses are drawn to initialize particles. After the initialization, edge points are employed to estimate inter-frame motions. While we follow a standard edge-based tracking, we perform a refinement process to improve the edge correspondences between sampled model edge points and image edge points. For better tracking performance, we employ a first-order autoregressive state dynamics, which propagates particles more effectively than Gaussian random walk models. The proposed system re-initializes particles by itself when the tracked object goes out of the field of view or is occluded. The robustness and accuracy of our approach is demonstrated using comparative experiments on synthetic and real image sequences.