Jump to : Download | Abstract | See also | Contact | BibTex reference | EndNote reference |

Comport03d

A. Comport, E. Marchand, F. Chaumette. A real-time tracker for markerless augmented reality. In ACM/IEEE Int. Symp. on Mixed and Augmented Reality, ISMAR'03, Pages 36-45, Tokyo, Japan, October 2003.

Download [help]

Download paper: Adobe portable document (pdf) pdf

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract

Augmented Reality has now progressed to the point where real-time applications are being considered and needed. At the same time it is important that synthetic elements are rendered and aligned in the scene in an accurate and visually acceptable way. In order to address these issues a real-time, robust and efficient 3D model-based tracking algorithm is proposed for a 'video see through' monocular vision system. The tracking of objects in the scene amounts to calculating the pose between the camera and the objects. Virtual objects can then be projected into the scene using the pose. Here, non-linear pose computation is formulated by means of a virtual visual servoing approach. In this context, the derivation of point-to-curves interaction matrices are given for different features including lines, circles, cylinders and spheres. A local moving edges tracker is used in order to provide real-time tracking of points normal to the object contours. A method is proposed for combining local position uncertainty and global pose uncertainty in an efficient and accurate way by propagating uncertainty. Robustness is obtained by integrating a M-estimator into the visual control law via an iteratively re-weighted least squares implementation. The method presented in this paper has been validated on several complex image sequences including outdoor environments. Results show the method to be robust to occlusion, changes in illumination and miss-tracking

See also

[ Comport03a ] [ Comport03b ]

BibTex Reference

@InProceedings{Comport03d,
   Author = {Comport, A. and Marchand, E. and Chaumette, F.},
   Title = {A real-time tracker for markerless augmented reality},
   BookTitle = {ACM/IEEE Int. Symp. on Mixed and Augmented Reality, ISMAR'03},
   Pages = {36--45},
   Address = {Tokyo, Japan},
   Month = {October},
   Year = {2003}
}

EndNote Reference [help]

Get EndNote Reference (.ref)

This document was translated automatically from BibTEX by bib2html (Copyright 2003 © Eric Marchand, INRIA, Vista Project).