Real-time tracking of complex structures for visual servoing

Tom Drummond, Roberto Cipolla

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

3 Citations (Scopus)


This paper presents a visual servoing system which incorporates a novel three-dimensional model-based tracking system. This tracking system extends constrained active contour tracking techniques into three dimensions, placing them within a Lie algebraic framework. This is combined with modern graphical rendering technology to create a system which can track complex three dimensional structures in real time at video frame rate (25 Hz) on a standard workstation without special hardware. The system is based on an internal CAD model of the object to be tracked which is rendered using binary space partition trees to perform hidden line removal. The visible features are identified on-line at each frame and are tracked in the video feed. Analytical and statistical edge saliency are then used as a means of increasing the robustness of the tracking system.

Original languageEnglish
Title of host publicationVision Algorithms
Subtitle of host publicationTheory and Practice - International Workshop on Vision Algorithms, Proceedings
PublisherSpringer-Verlag London Ltd.
Number of pages16
ISBN (Print)9783540679738
Publication statusPublished - 1 Jan 2000
Externally publishedYes
EventInternational Workshop on Vision Algorithms: Theory and Practice, 1999 - Corfu, Greece
Duration: 21 Sep 199922 Sep 1999

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


ConferenceInternational Workshop on Vision Algorithms: Theory and Practice, 1999

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