Comport04e

A.I. Comport, E. Marchand, F. Chaumette. Robust model-based tracking for robot vision. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'04, Volume 1, Pages 692-697, Sendai, Japan, September 2004.

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Abstract

This paper proposes a real-time, robust and efficient 3D model-based tracking algorithm for visual servoing. A virtual visual servoing approach is used for monocular 3D tracking. This method is similar to more classical non-linear pose computation techniques. A concise method for derivation of efficient distance-to-contour interaction matrices is described. An oriented edge detector is used in order to provide real-time tracking of points normal to the object contours. Robustness is obtained by integrating a M-estimator into the virtual visual control law via an iteratively re-weighted least squares implementation. The method presented in this paper has been validated on several 2D 1/2 visual servoing experiments considering various objects. Results show the method to be robust to occlusion, changes in illumination and miss-tracking

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Éric Marchand
François Chaumette

BibTex Reference

@InProceedings{Comport04e,
   Author = {Comport, A.I. and Marchand, E. and Chaumette, F.},
   Title = {Robust model-based tracking for robot vision},
   BookTitle = {IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'04},
   Volume = {    1},
   Pages = {692--697},
   Address = {Sendai, Japan},
   Month = {September},
   Year = {2004}
}

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