Real-time tracking of complex structures with on-line camera calibration

T. Drummond, R. Cipolla

Research output: Contribution to journalArticleResearchpeer-review

16 Citations (Scopus)


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 languageEnglish
Pages (from-to)427-433
Number of pages7
JournalImage and Vision Computing
Issue number5-6
Publication statusPublished - 6 Mar 2002
Externally publishedYes


  • Lie algebras
  • Lie groups
  • Real-time vision
  • Visual servoing
  • Visual tracking

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