A Computational Approach to Edge Detection
IEEE Transactions on Pattern Analysis and Machine Intelligence
Least-Squares Fitting of Two 3-D Point Sets
IEEE Transactions on Pattern Analysis and Machine Intelligence
Efficient binary space partitions for hidden-surface removal and solid modeling
Discrete & Computational Geometry - Selected papers from the fifth annual ACM symposium on computational geometry, Saarbrücken, Germany, June 5-11, 1989
Camera Calibration with Distortion Models and Accuracy Evaluation
IEEE Transactions on Pattern Analysis and Machine Intelligence
Visual grasping with long delay time of a free floating object in orbit
Autonomous Robots
Computing Occlusion-Free Viewpoints
IEEE Transactions on Pattern Analysis and Machine Intelligence
Real-Time Visual Tracking of Complex Structures
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Method for Tracking the Pose of Known 3-D Objects Based on an Active Contour Model
ICPR '96 Proceedings of the 1996 International Conference on Pattern Recognition (ICPR '96) Volume I - Volume 7270
Occlusion Culling Using Minimum Occluder Set and Opacity Map
IV '99 Proceedings of the 1999 International Conference on Information Visualisation
Automatic grasp planning for visual-servo controlled roboticmanipulators
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
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In this paper an algorithm for real-time estimation of the position and orientation of a moving object using a video camera is presented. The algorithm is based on the extended Kalman filter which iteratively computes the object pose from the position measured in the image plane of a set of feature points of the object. A new technique is proposed for the selection of the optimal feature points based on the representation of the object geometry by means of a Binary Space Partitioning (BSP) tree. At each sample time, a visit algorithm of the tree allows pre-selecting all the feature points of the object that are visible from the camera in the pose predicted by the Kalman filter. A further selection is performed to find the optimal set of visible points to be used for image feature extraction. Experimental results are presented which confirm the feasibility and effectiveness of the proposed technique.