Adaptive tracking and model registration across distinct aspects

Author

Ravela, S. ; Draper, B. ; Lim, J. ; Weiss, R.

Author_Institution

Comput. Vision Res. Lab., Massachusetts Univ., Amherst, MA, USA

Volume

1

fYear

1995

fDate

5-9 Aug 1995

Firstpage

174

Abstract

A model registration system capable of tracking an object through distinct aspects in real-time is presented. The system integrates tracking, pose determination, and aspect graph indexing. The tracking combines steerable filters with normalized cross-correlation, compensates for rotation in 2D and is adaptive. Robust statistical methods are used in the pose estimation to detect and remove mismatches. The aspect graph is used to determine when features will disappear or become difficult to trade and to predict when and where new features will become trackable. The overall system is stable and is amenable to real-time performance

Keywords

image registration; statistical analysis; tracking; adaptive tracking; aspect graph; aspect graph indexing; mismatches detection; mismatches removal; model registration; normalized cross-correlation; pose determination; pose estimation; robust statistical methods; rotation compensation; steerable filters; Cameras; Computer vision; Feature extraction; Indexing; Instruments; Laboratories; Real time systems; Robust stability; Robustness; Statistical analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems 95. 'Human Robot Interaction and Cooperative Robots', Proceedings. 1995 IEEE/RSJ International Conference on

Conference_Location

Pittsburgh, PA

Print_ISBN

0-8186-7108-4

Type

conf

DOI

10.1109/IROS.1995.525793

Filename

525793