Real-time tracking and estimation of plane pose

In this paper we present a method to estimate in real-time the position and orientation of a previously viewed planar patch. The algorithm is based on minimising the sum of squared differences between a previously stored image of the patch and the current image of it. First a linear model for projectively tracking a planar patch is introduced, then a method to compute the 3D position and orientation of the patch in 3D space is presented. In the experiments conducted we show that this method is adequate for tracking not only planar objects, but also non planar objects with limited out-of-plane rotations, as is the case of face tracking.