Comport05b

A.I. Comport, E. Marchand, F. Chaumette. Efficient model-based tracking for robot vision. Advanced Robotics, Special issue on "Selected papers from IROS'04", 19(10):1097-1113, October 2005.

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Abstract

This paper proposes a real-time, robust and efficient 3D model-based tracking algorithm. A virtual visual servoing approach is used for monocular 3D tracking. This method is similar to more classical non-linear pose computation techniques. A concise method for derivation of efficient distance-to-contour interaction matrices is described. An oriented edge detector is used in order to provide real-time tracking of points normal to the object contours. Robustness is obtained by integrating a M-estimator into the virtual visual control law via an iteratively re-weighted least squares implementation. The method presented in this paper has been validated on several visual servoing experiments considering various objects. Results show the method to be robust to occlusion, changes in illumination and miss-tracking

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Eric Marchand
Francois Chaumette

BibTex Reference

@article{Comport05b,
   Author = {Comport, A.I. and Marchand, E. and Chaumette, F.},
   Title = {Efficient model-based tracking for robot vision},
   Journal = {Advanced Robotics},
   Volume = {    19},
   Number = {10},
   Pages = {1097--1113},
   Publisher = {The Robotics Society of Japan},
   Month = {October},
   Year = {2005}
}

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