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Tracking rigid objects using integration of model-based and model-free cues
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0003-2965-2953
2011 (English)In: Machine Vision and Applications, ISSN 0932-8092, E-ISSN 1432-1769, Vol. 22, no 2, 323-335 p.Article in journal (Refereed) Published
Abstract [en]

Model-based 3-D object tracking has earned significant importance in areas such as augmented reality, surveillance, visual servoing, robotic object manipulation and grasping. Key problems to robust and precise object tracking are the outliers caused by occlusion, self-occlusion, cluttered background, reflections and complex appearance properties of the object. Two of the most common solutions to the above problems have been the use of robust estimators and the integration of visual cues. The tracking system presented in this paper achieves robustness by integrating model-based and model-free cues together with robust estimators. As a model-based cue, a wireframe edge model is used. As model-free cues, automatically generated surface texture features are used. The particular contribution of this work is the integration framework where not only polyhedral objects are considered. In particular, we deal also with spherical, cylindrical and conical objects for which the complete pose cannot be estimated using only wireframe models. Using the integration with the model-free features, we show how a full pose estimate can be obtained. Experimental evaluation demonstrates robust system performance in realistic settings with highly textured objects and natural backgrounds.

Place, publisher, year, edition, pages
2011. Vol. 22, no 2, 323-335 p.
Keyword [en]
Model-based tracking, Model-free tracking, Cue integration, Iterated extended Kalman filter
National Category
Computer Science Other Electrical Engineering, Electronic Engineering, Information Engineering
URN: urn:nbn:se:kth:diva-30997DOI: 10.1007/s00138-009-0214-yISI: 000287205100008ScopusID: 2-s2.0-79951947861OAI: diva2:402874
ICT - The Next Generation
QC 20110310Available from: 2011-03-10 Created: 2011-03-07 Last updated: 2012-01-19Bibliographically approved

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Kragic, Danica
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