%0 Conference Proceedings
%F Pasteau1ba
%A Pasteau, F.
%A Babel, M.
%A Sekkal, R.
%T Corridor following wheelchair by visual servoing
%B IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'2013
%P 590-595
%C Tokyo, Japan
%X This paper focuses on the issue of estimating the complete 3D pose of the camera with respect to a potentially textureless object, through model-based tracking. We propose to robustly combine complementary geometrical and color edge- based features in the minimization process, and to integrate a multiple-hypotheses framework in the geometrical edge-based registration phase. In order to deal with complex 3D models, our method takes advantage of GPU acceleration. Promising results, outperforming classical state-of-art approaches, have been obtained for space robotics applications on various real and synthetic image sequences and using satellite mock-ups as targets
%U http://www.irisa.fr/lagadic/pdf/2013_iros_pasteau.pdf
%U http://dx.doi.org/10.1109/IROS.2013.6696411
%8 November
%D 2013