Title :
Real-time camera tracking for structured environment using an iterated particle filter
Author :
Ababsa, Fakhreddine
Author_Institution :
IBISC Lab., Univ. of Evry-Val-d´´Essonne, Evry, France
Abstract :
In this paper, we present a new solution for the problem of tracking the 3D pose of a hand held camera using particle filtering framework. The proposed approach utilizes a 3D straight-line based model of a structured environment. The principal novelty is in the use of the 2D edges from the image and the 3D lines from the input model within the particle filter, especially to design the likelihood function of the filter observation model. Results from real data are presented, demonstrating the efficiency and robustness of the proposed method.
Keywords :
augmented reality; cameras; edge detection; maximum likelihood estimation; particle filtering (numerical methods); pose estimation; real-time systems; tracking; 3D pose tracking; 3D straight-line based model; hand held camera; iterated particle filter; particle filtering framework; real time camera tracking; structured environment; Atmospheric measurements; Particle measurements; Robustness; augmented reality; markerless tracking; particle filter;
Conference_Titel :
Systems Man and Cybernetics (SMC), 2010 IEEE International Conference on
Conference_Location :
Istanbul
Print_ISBN :
978-1-4244-6586-6
DOI :
10.1109/ICSMC.2010.5641678