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Integration of Model-based and Model-free Cues for Visual Object Tracking in 3D
Lappeenranta University of Technology.
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0003-2965-2953
2005 (English)In: 2005 IEEE International Conference on Robotics and Automation (ICRA), IEEE Computer Society, 2005, 1554-1560 p.Conference paper, Published paper (Refereed)
Abstract [en]

Vision is one of the most powerful sensory modalities in robotics, allowing operation in dynamic environments. One of our long-term research interests is mobile manipulation, where precise location of the target object is commonly required during task execution. Recently, a number of approaches have been proposed for real-time 3D tracking and most of them utilize an edge (wireframe) model of the target. However, the use of an edge model has significant problems in complex scenes due to occlusions and multiple responses, especially in terms of initialization. In this paper, we propose a new tracking method based on integration of model-based cues with automatically generated model-free cues, in order to improve tracking accuracy and to avoid weaknesses of edge based tracking. The integration is performed in a Kalman filter framework that operates in real-time. Experimental evaluation shows that the inclusion of model-free cues offers superior performance.

Place, publisher, year, edition, pages
IEEE Computer Society, 2005. 1554-1560 p.
Series
IEEE International Conference on Robotics and Automation, ISSN 2152-4092 ; 2005
Keyword [en]
model-based tracking, model-free track ing, cue integration, iterated extended Kalman filter
National Category
Computer and Information Science
Identifiers
URN: urn:nbn:se:kth:diva-63813DOI: 10.1109/ROBOT.2005.1570335ISI: 000235460101057Scopus ID: 2-s2.0-33846133573ISBN: 0-7803-8914-X (print)OAI: oai:DiVA.org:kth-63813DiVA: diva2:482704
Conference
2005 IEEE International Conference on Robotics and Automation; Barcelona; 18 April 2005 through 22 April 2005
Note
QC 20120203Available from: 2012-01-24 Created: 2012-01-24 Last updated: 2012-02-03Bibliographically approved

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Kragic, Danica

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CiteExportLink to record
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Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
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