A 2D-3D model-based approach to real-time visual tracking - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Journal Articles Image and Vision Computing Year : 2001

A 2D-3D model-based approach to real-time visual tracking


We present a novel method for tracking, in a monocular image sequence, complex objects that can be approximately modeled by a polyhedral shape. The method consists of two stages of global transformation, the first one operating in 2D space and the second one in 3D space. The first stage is able to handle large displacements of the object projection in the image. It utilizes a 2D motion model estimated by a robust statistical method. Then, we refine the localization of the object silhouette by evaluating the 3D parameters related to the object pose by iteratively minimizing a nonlinear cost function. This last step aims at moving the projection of the contours of the object CAD model to the spatial intensity gradients in the image. The proposed tracking method is real-time, reliable, and robust. Real tracking experiments and results embedded in a visual servoing positioning task are reported.
Fichier principal
Vignette du fichier
IVC-original.pdf (693.59 Ko) Télécharger le fichier
Origin : Files produced by the author(s)

Dates and versions

inria-00352135 , version 1 (15-01-2009)


  • HAL Id : inria-00352135 , version 1


E. Marchand, Patrick Bouthemy, François Chaumette. A 2D-3D model-based approach to real-time visual tracking. Image and Vision Computing, 2001, 19 (13), pp.941-955. ⟨inria-00352135⟩
188 View
564 Download


Gmail Facebook Twitter LinkedIn More