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Robust 3D object tracking using an elaborate motion model

: Seo, Byung-Kuk; Wuest, Harald


Veas, E. ; Institute of Electrical and Electronics Engineers -IEEE-; IEEE Computer Society:
IEEE International Symposium on Mixed and Augmented Reality 2016. Adjunct proceedings : Merida, Yucatan, Mexico, 19-23 September 2016
Los Alamitos, Calif.: IEEE Computer Society Conference Publishing Services (CPS), 2016
ISBN: 978-1-5090-3740-7
ISBN: 978-1-5090-3741-4
International Symposium on Mixed and Augmented Reality (ISMAR) <15, 2016, Merida>
Fraunhofer IGD ()
Guiding Theme: Digitized Work; Research Area: Computer vision (CV); object tracking; Augmented reality (AR)

This paper proposes a new method for robust 3D object tracking from a single RGB image when an object model is available. The proposed method is based on image alignment between consecutive frames over a 3D target object. Different from conventional methods that only rely on image intensity for the alignment, we model intensity variations using the surface normal of the object. From this model, we also define a new constraint for the pose estimation, leading to significant improvement in the tracking robustness. In experiments, we demonstrate the benefits of our method by evaluating it under challenging tracking conditions.