Robust Statistics for 3D Object Tracking
2006 (English)In: 2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10, 2006, 2403-2408 p.Conference paper (Refereed)
This paper focuses on methods that enhance performance of a model based 3D object tracking system. Three statistical methods and an improved edge detector are discussed and compared. The evaluation is performed on a number of characteristic sequences incorporating shift, rotation, texture, weak illumination and occlusion. Considering the deviations of the pose parameters from ground truth, it is shown that improving the measurements' accuracy in the detection step yields better results than improving contaminated measurements with statistical means.
Place, publisher, year, edition, pages
2006. 2403-2408 p.
, IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, ISSN 1050-4729
Computer and Information Science
IdentifiersURN: urn:nbn:se:kth:diva-63791DOI: 10.1109/ROBOT.2006.1642062ISI: 000240886905023ScopusID: 2-s2.0-33845617225OAI: oai:DiVA.org:kth-63791DiVA: diva2:482604
IEEE International Conference on Robotics and Automation (ICRA). Orlando, FL. MAY 15-19, 2006
QC 201201272012-01-242012-01-242012-01-27Bibliographically approved