Real-time 3D tracking using multiple sample points

In this paper, we propose a method for robust and real-time estimation of 3D motion. In our method, we use multiple sample points that are on an object before and after moving. Point correspondences between frames are not necessary. 3D motion is reliably estimated by using sample points with image positions, image features and 3D spatial positions, from both images. Our method achieves real-time performance due to usage of just sample points. We present the effectiveness of our method by means of experimental results and compare its performance with that of other methods.