Geometric invariants for verification in 3-D object tracking

We demonstrate that geometric invariants are useful tools and can be used for verification of feature tracking. In visual tracking of objects, feature tracking is the first part of the process, and reliable feature tracking is essential for realizing robust object tracking. Feature tracking of many features on the target object, verification of feature tracking and selection of successfully tracked features, enables robust object tracking even if there is some occlusion and change of illumination. We show how geometric invariants from five coplanar points and affine moment invariants can be used for verification of feature tracking. The important point we have to consider is the sensitivity of invariants. The sensitivity of invariants is dependent on the configuration of feature points. Dynamic threshold setting is proposed for dealing with observation errors in tracking in any situation