F. Dionnet, E. Marchand. Robust stereo tracking for space robotic applications. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'07, Pages 3373-3378, San Diego, California, October 2007.
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This paper received the IROS'07 Conference Best Application Paper Award
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 3D tracking. This method is similar to more classical non-linear pose computation techniques. Robustness is obtained by integrating an M-estimator into the virtual visual control law via an iteratively re-weighted least squares implementation. The presented approach is also extended to the use of multiple cameras. Results show the method to be robust to occlusion, changes in illumination and miss-tracking
@InProceedings{Dionnet07a,
Author = {Dionnet, F. and Marchand, E.},
Title = {Robust stereo tracking for space robotic applications},
BookTitle = {IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'07},
Pages = {3373--3378},
Address = {San Diego, California},
Month = {October},
Year = {2007}
}
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