Robust model-based tracking with multiple cameras for spatial applications - Inria - Institut national de recherche en sciences et technologies du numérique Accéder directement au contenu
Communication Dans Un Congrès Année : 2006

Robust model-based tracking with multiple cameras for spatial applications

Résumé

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.
Fichier principal
Vignette du fichier
2006_astra_dionnet.pdf (761.46 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

inria-00350286 , version 1 (06-01-2009)

Identifiants

  • HAL Id : inria-00350286 , version 1

Citer

F. Dionnet, E. Marchand. Robust model-based tracking with multiple cameras for spatial applications. 9th ESA Workshop on Advanced Space Technologies for Robotics and Automation, ASTRA 2006., 2006, Noordwijk, Netherlands. pp.287-294. ⟨inria-00350286⟩
169 Consultations
86 Téléchargements

Partager

Gmail Facebook X LinkedIn More