Real-time Camera Tracking Using Known 3D Models and a Particle Filter

M Pupilli, A Calway

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

34 Citations (Scopus)

Abstract

We present an algorithm which can track the 3D pose of a hand held camera in real-time using predefined models of objects in the scene. The technique utilises and extends recently developed techniques for 3D tracking with a particle filter. The novelty is in the use of edge information for 3D tracking which has not been achieved before within a real-time Bayesian sampling framework. We develop a robust tracker by carefully designing the particle filter observation model: grouping line segments from a known model into 3D junctions and performing fast inlier/outlier counts on projected junction branches. Results demonstrate the ability to track full 3D pose in dense clutter whilst using a minimal number of junctions.
Translated title of the contributionReal-time Camera Tracking Using Known 3D Models and a Particle Filter
Original languageEnglish
Title of host publicationUnknown
Publication statusPublished - Aug 2006

Bibliographical note

Conference Proceedings/Title of Journal: International Conference on Pattern Recognition

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