%0 Conference Proceedings
%F Petit14a
%A Petit, A.
%A Marchand, E.
%A Kanani, A.
%T Combining complementary edge, point and color cues in model-based tracking for highly dynamic scenes
%B IEEE Int. Conf. on Robotics and Automation, ICRA'14
%P 4115-4120
%C Hong Kong, China
%X 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
%U http://rainbow-doc.irisa.fr/pdf/2014_icra_petit.pdf
%U http://doi.org/10.1109/ICRA.2014.6907457
%8 June
%D 2014