M. Pressigout, E. Marchand. Real time planar structure tracking: A contour and texture approach. Research Report IRISA, No 1698, March 2005.
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Robustness and accuracy are major issues in real-time object tracking in image sequences. This paper describes a reliable tracking for markerless objects based on the fusion of visual cues and on the estimation of a 2D transformation. The parameters of this transformation are estimated using a non-linear minimization of a unique criterion that integrates information on both texture and edges of the tracked object. The proposed tracker is then more robust and succeeds in conditions where methods based on a single cue fail. The tracker can deal with polygonal shaped objects but also with those which can be modeled by a B-spline. In the latter case, NURBS are used to reduce time processing. The efficiency and the robustness of the proposed method are tested on image sequences as well as during image-based visual servoing experiments
@TechReport{Pressigout05c,
Author = {Pressigout, M. and Marchand, E.},
Title = {Real time planar structure tracking: A contour and texture approach},
Number = {1698},
Institution = {IRISA},
Month = {March},
Year = {2005}
}
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