Real time tracking of 3D objects with occultations

We present an efficient method for real time tracking of 3D objects. Within this approach, target objects are modeled by sets of 2D patterns including all of the possible object appearances. The tracker is based on two tasks: a 2D tracker estimates the position of the current appearance in the current image; in real time, a second tracker looks for the change of appearance of the object. We experimentally show the efficiency of the algorithm, as well as its ability to resist occultations and changes of brightness.