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In this paper, we present a new solution for the problem of tracking the 3D pose of a hand held camera using particle filtering framework. The proposed approach utilizes a 3D straight-line based model of a structured environment. The principal novelty is in the use of the 2D edges from the image and the 3D lines from the input model within the particle filter, especially to design the likelihood function of the filter observation model. Results from real data are presented, demonstrating the efficiency and robustness of the proposed method.