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A Moment-based 3D Object Tracking Algorithm for High-speed Vision

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2 Author(s)
Takashi Komuro ; Department of Information Physics and Computing, Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan. Takashi ; Masatoshi Ishikawa

In this paper we propose a method of realizing continuous tracking of a three-dimensional object by calculating moments of a translating and rotating object whose shape is known, either analytically or by using a table, and matching them with those of the input image. In simulation, the position and orientation is accurately recognized. Using a noise model and particle filter, we show that the position and orientation can be recognized even with noisy images.

Published in:

Proceedings 2007 IEEE International Conference on Robotics and Automation

Date of Conference:

10-14 April 2007