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A. Petit, E. Marchand, A. Kanani. Combining complementary edge, point and color cues in model-based tracking for highly dynamic scenes. In IEEE Int. Conf. on Robotics and Automation, ICRA'14, Pages 4115-4120, Hong Kong, China, June 2014.

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This paper focuses on the issue of estimating the complete 3D pose of the camera with respect to a complex object, in a potentially highly dynamic scene, through model- based tracking. We propose to robustly combine complementary geometrical edge and point features with color based features in the minimization process. A Kalman filtering and pose pre- diction process is also suggested to handle potential large inter- frame motions. In order to deal with complex 3D models, our method takes advantage of hardware acceleration. Promising results, outperforming classical state-of-art approaches, have been obtained on various real and synthetic image sequences, with a focus on space robotics applications


Eric Marchand

BibTex Reference

   Author = {Petit, A. and Marchand, E. and Kanani, A.},
   Title = {Combining complementary edge, point and color cues in model-based tracking for highly dynamic scenes},
   BookTitle = {IEEE Int. Conf. on Robotics and Automation, ICRA'14},
   Pages = {4115--4120},
   Address = {Hong Kong, China},
   Month = {June},
   Year = {2014}

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