Edge-Based Markerless 3D Tracking of Rigid Objects

In this paper we present a real-time 3D object tracking algorithm based on edges and using a single pre-calibrated camera. During the tracking process, the algorithm is continuously projecting the 3D model to the current frame by using the pose estimated in the previous frame. Once projected, some control points are generated along the visible edges of the object. The next pose is estimated by minimizing the distances between the control points and the edges detected in the image.