DocumentCode :
2596858
Title :
Real time planar structure tracking for visual servoing: a contour and texture approach
Author :
Pressigout, Muriel ; Marchand, Eric
Author_Institution :
IRISA, Univ. of Rennes I, France
fYear :
2005
fDate :
2-6 Aug. 2005
Firstpage :
251
Lastpage :
256
Abstract :
Robustness and accuracy are major issues in real-time object tracking in image sequences. This paper describes a reliable tracking for markerless objects based on the fusion of visual cues and on the estimation of a 2D transformation. The parameters of this transformation are estimated using a non-linear minimization of a unique criterion that integrates information both on the texture and the edges of the tracked object. The proposed tracker is then more robust and succeeds in conditions where methods based on a single cue fail. The efficiency and the robustness of the proposed method are tested on image sequences as well as during an image-based visual servoing experiment.
Keywords :
image motion analysis; image sequences; image texture; parameter estimation; robot vision; robust control; tracking; image sequences; markerless object; nonlinear minimization; object texture; parameter estimation; real time planar structure tracking; real-time object tracking; transformation estimation; visual servoing; Active contours; Brightness; Image sequences; Jacobian matrices; Layout; Robot vision systems; Robustness; Shape; Testing; Visual servoing;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
Type :
conf
DOI :
10.1109/IROS.2005.1545223
Filename :
1545223
Link To Document :
بازگشت