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A method for tracking the pose of known 3-D objects based on an active contour model

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2 Author(s)
Stark, K. ; Dept. of Comput. Sci., Tech. Univ. Dresden, Germany ; Fuchs, S.

A method for tracking the pose of known 3-D objects moving with 6 degrees of freedom in space is described. The main idea is to split the tracking into two quasi autonomous working processes, one to track the 2-D outline (i.e. silhouette) of the object in an image sequence and one to track the full 3-D object pose based on the estimated 2-D outline. An active contour model utilizing a Kalman filter is used to efficiently track the object outline. Geometric information used is limited to the space curve at the object's surface projecting to the currently visible outline. The 3-D pose tracker uses the results of the contour tracker, i.e. the position and shape of the outline, and a 3-D object model to track the full object pose. The object pose is derived from an n-point correspondence between the outline and the object's surface. Furthermore, the pose tracker predicts the object appearance and provides the contour tracker with new model information in case the object aspect changes. Tracking results for polyhedral objects are presented

Published in:

Pattern Recognition, 1996., Proceedings of the 13th International Conference on  (Volume:1 )

Date of Conference:

25-29 Aug 1996