Abstract
This paper presents a novel three-dimensional model-based tracking system which has been incorporated into a visual servoing system. The tracking system combines modern graphical rendering technology with constrained active contour tracking techniques to create wire-frame-snakes. It operates in real-time at video frame rate (25 Hz) and is based on an internal CAD model of the object to be tracked. This model is rendered using a binary space partition tree to perform hidden line removal and the visible features are identified on-line at each frame and are tracked in the video feed. The tracking system has been extended to incorporate real-time on-line calibration and tracking of internal camera parameters. Results from on-line calibration and visual servoing experiments are presented.
| Original language | English |
|---|---|
| Pages (from-to) | 427-433 |
| Number of pages | 7 |
| Journal | Image and Vision Computing |
| Volume | 20 |
| Issue number | 5-6 |
| DOIs | |
| Publication status | Published - 6 Mar 2002 |
| Externally published | Yes |
Keywords
- Lie algebras
- Lie groups
- Real-time vision
- Visual servoing
- Visual tracking