Integrating 3D object detection, modelling and tracking on a mobile phone

This paper presents a complete system on a camera phone that integrates a texture less 3D object detector together with in-situ modelling and tracking. The result is a suite intended for AR applications on the move where objects can be captured, tracked and with the automated detection providing a bridge to either initialize tracking or resume it after measurement loss. The object detector training is online and in-situ and benefits from tight integration with the modelling and tracking processes.