Integration of Euclidean constraints in template based visual tracking of piecewise-planar scenes - Archive ouverte HAL
Communication Dans Un Congrès Année : 2006

Integration of Euclidean constraints in template based visual tracking of piecewise-planar scenes

Résumé

This papers deals with the problem of tracking a piecewise-planar scene in a video sequence and, at the same time, with the problem of estimating accurately the 3D displacement of the camera for robotic applications. A new approach to the problem is proposed and two noticeable contributions are given. Firstly, the explicit dependency between the 2D image transformation parameters (a homography for each plane) and the 3D camera displacement parameters is computed. Secondly, a second-order optimization algorithm is proposed. The second-order optimization considerably increases the convergence domain and the convergence rate of standard first-order optimization algorithms while having an almost equivalent computational complexity.
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Dates et versions

hal-04657850 , version 1 (22-07-2024)

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Selim Benhimane, Ezio Malis. Integration of Euclidean constraints in template based visual tracking of piecewise-planar scenes. 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2006, Beijing, China. pp.1218-1223, ⟨10.1109/IROS.2006.281859⟩. ⟨hal-04657850⟩

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