%0 Conference Proceedings %F Dionnet06a %A Dionnet, F. %A Marchand, E. %T Robust model-based tracking with multiple cameras for spatial applications %B 9th ESA Workshop on Advanced Space Technologies for Robotics and Automation, ASTRA 2006 %P 287-294 %C Noordwijk, The Netherlands %X This paper proposes a real-time, robust and efficient 3D model-based tracking algorithm for visual servoing. A virtual visual servoing approach is used for 3D tracking. This method is similar to more classical non-linear pose computation techniques. Robustness is obtained by integrating an M-estimator into the virtual visual control law via an iteratively re-weighted least squares implementation. The presented approach is also extended to the use of multiple cameras. Results show the method to be robust to occlusion, changes in illumination and miss-tracking %U http://rainbow-doc.irisa.fr/pdf/2006_astra_dionnet.pdf %8 November %D 2006