Generalizing the hough transform to detect arbitrary shapes
Readings in computer vision: issues, problems, principles, and paradigms
A Method for Registration of 3-D Shapes
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
Pfinder: Real-Time Tracking of the Human Body
IEEE Transactions on Pattern Analysis and Machine Intelligence
Multidimensional binary search trees used for associative searching
Communications of the ACM
Geometric Hashing: An Overview
IEEE Computational Science & Engineering
Registering Multiview Range Data to Create 3D Computer Objects
IEEE Transactions on Pattern Analysis and Machine Intelligence
Geometric Probing of Dense Range Data
IEEE Transactions on Pattern Analysis and Machine Intelligence
Real-Time Visual Tracking of Complex Structures
IEEE Transactions on Pattern Analysis and Machine Intelligence
Fast global registration of 3D sampled surfaces using a multi-z-buffer technique
NRC '97 Proceedings of the International Conference on Recent Advances in 3-D Digital Imaging and Modeling
Registration of 3-D partial surface models using luminance and depth information
NRC '97 Proceedings of the International Conference on Recent Advances in 3-D Digital Imaging and Modeling
3D pose estimation by fitting image gradients directly to polyhedral models
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Model Based Pose Estimation for Autonomous Operations in Space
ICIIS '99 Proceedings of the 1999 International Conference on Information Intelligence and Systems
Stable Real-Time 3D Tracking Using Online and Offline Information
IEEE Transactions on Pattern Analysis and Machine Intelligence
Scene Modelling, Recognition and Tracking with Invariant Image Features
ISMAR '04 Proceedings of the 3rd IEEE/ACM International Symposium on Mixed and Augmented Reality
Discrete Pose Space Estimation to Improve ICP-Based Tracking
3DIM '05 Proceedings of the Fifth International Conference on 3-D Digital Imaging and Modeling
Articulated pose identification with sparse point features
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Fast and reliable active appearance model search for 3-D face tracking
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Real-time Object Recognition in Sparse Range Images Using Error Surface Embedding
International Journal of Computer Vision
Local shape descriptor selection for object recognition in range data
Computer Vision and Image Understanding
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A method is presented for tracking 3D objects as they transform rigidly in space within a sparse range image sequence. The method operates in discrete space and exploits the coherence across image frames that results from the relationship between known bounds on the object's velocity and the sensor frame rate. These motion bounds allow the interframe transformation space to be reduced to a reasonable and indeed tiny size, comprising only tens or hundreds of possible states. The tracking problem is in this way cast into a classification framework, effectively trading off localization precision for runtime efficiency and robustness. The method has been implemented and tested extensively on a variety of freeform objects within a sparse range data stream comprising only a few hundred points per image. It has been shown to compare favorably against continuous domain Iterative Closest Point (ICP) tracking methods, performing both more efficiently and more robustly. A hybrid method has also been implemented that executes a small number of ICP iterations following the initial discrete classification phase. This hybrid method is both more efficient than the ICP alone and more robust than either the discrete classification method or the ICP separately.