Real-time tracking and estimation of plane pose

Author

Buenaposada, José Miguel ; Baumela, Luis

Author_Institution

Departamento de Inteligencia Artificial, Univ. Politecnica de Madrid, Spain

Volume

2

fYear

2002

fDate

2002

Firstpage

697

Abstract

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.

Keywords

face recognition; image motion analysis; image sequences; least squares approximations; minimisation; tracking; 3D orientation; 3D position; face tracking; limited out-of-plane rotations; linear model; planar objects; planar patch tracking; plane pose; previously viewed planar patch; projective tracking; real-time estimation; real-time tracking; sequence tracking; squared difference sum minimisation; target motion; Augmented reality; Face detection; Image generation; Image resolution; Navigation; Optical computing; Optical sensors; Pixel; Robot vision systems; Tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Pattern Recognition, 2002. Proceedings. 16th International Conference on

ISSN

1051-4651

Print_ISBN

0-7695-1695-X

Type

conf

DOI

10.1109/ICPR.2002.1048397

Filename

1048397