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Conference Papers Year : 2007

Robust stereo tracking for space applications.

Abstract

This paper proposes a real-time, robust and effi- cient 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 computa- tion 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.
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Dates and versions

inria-00261402 , version 1 (06-03-2008)

Identifiers

  • HAL Id : inria-00261402 , version 1

Cite

F. Dionnet, Eric Marchand. Robust stereo tracking for space applications.. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'07, IEEE, Nov 2007, San Diego, United States. pp.3373-3378. ⟨inria-00261402⟩
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