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Conference Papers Year : 2013

A robust model-based tracker combining geometrical and color edge information

Abstract

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.
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Dates and versions

hal-00846683 , version 1 (19-07-2013)

Identifiers

  • HAL Id : hal-00846683 , version 1

Cite

Antoine Petit, Eric Marchand, Keyvan Kanani. A robust model-based tracker combining geometrical and color edge information. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'2013, Nov 2013, Tokyo, Japan. pp.3719-3724. ⟨hal-00846683⟩
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