%0 Conference Proceedings
%F Dionnet07a
%A Dionnet, F.
%A Marchand, E.
%T Robust stereo tracking for space applications
%B IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'07
%P 3373-3378
%C San Diego, California
%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/2007_iros_dionnet.pdf
%U http://doi.org/10.1109/IROS.2007.4399028
%8 October
%D 2007