Tracking 3D position and orientation from 2D sequences using simple geometry

This paper introduces a simple way of tracking the position and orientation of objects from a single camera by exploiting the perspective projection model. Three points on the subject that lie in a plane are identified and their distances from the camera lens are measured. Using photometric methods and simple geometry, the location of these points in 3-space is estimated from their projection on the image plane. The direction of orientation can be accurately detected. Promising results using various sequences support the use of this approach in real-time tracking applications.