Proceedings ArticleDOI
Generic edgelet-based tracking of 3D objects in real-time
Angelique Loesch,Steve Bourgeois,Vincent Gay-Bellile,Michel Dhome +3 more
- pp 6059-6066
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TLDR
This paper addresses the challenging issue of real-time camera localization relative to any object that have texture or not, sharp edges or occluding contours, by combining 3D contour points from a CAD model by Analysis-by-Synthesis on the graphics hardware with a keyframe-based SLAM algorithm to estimate camera poses.Abstract:
This paper addresses the challenging issue of real-time camera localization relative to any object that have texture or not, sharp edges or occluding contours. 3D contour points, dynamically extracted from a CAD model by Analysis-by-Synthesis on the graphics hardware, are combined with a keyframe-based SLAM algorithm to estimate camera poses. Our tracking solution is accurate, robust to sudden motions and to occlusions, as demonstrated on synthetic and real data. This solution is also easy to deploy since it only uses an RGB camera and a CAD model of the object of interest, requires no manual intervention on this model and runs on a consumer tablet at a frequency of 40Hz on a HD video-stream. Videos are available as supplemental material.read more
Citations
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Journal ArticleDOI
A Robust Monocular 3D Object Tracking Method Combining Statistical and Photometric Constraints
Leisheng Zhong,Li Zhang +1 more
TL;DR: This paper constructs a new probabilistic formulation for 3D object tracking by combining statistical constraints from region-based methods and photometric constraints from direct methods and proposes to increase the distinctiveness of foreground and background statistical models by partitioning the global foreground and Background regions into a small number of sub-regions around the object contour.
Journal ArticleDOI
Automatic Inspection of Aeronautical Mechanical Assemblies by Matching the 3D CAD Model and Real 2D Images.
TL;DR: This work addresses a very common problem in quality control of detecting defects on aeronautical mechanical assemblies by automatic selection of informative viewpoints before the inspection process is started and automatic treatment of the acquired images by matching them with information in 3D CAD models is launched.
Journal ArticleDOI
Seeing Through the Occluders: Robust Monocular 6-DOF Object Pose Tracking via Model-Guided Video Object Segmentation
TL;DR: Experiments show that the proposed method outperforms the state-of-arts by a large margin for dealing with heavy occlusions, and could handle extreme cases which previous methods would fail.
Proceedings ArticleDOI
3D point cloud analysis for automatic inspection of aeronautical mechanical assemblies
TL;DR: This paper addresses the problem of automatic robotic inspection in two parts: first, automatic selection of informative viewpoints before the inspection process is started, and, second, automatic treatment of the acquired 3D point cloud from said viewpoints.
Journal ArticleDOI
Localization of 3D objects using model-constrained SLAM
TL;DR: The proposed localization solution built on a keyframe-based SLAM algorithm is easy to deploy, requiring no manual intervention on the model, and runs in real time on HD video streams, thus perfectly adapted for high-quality Augmented Reality experiences.
References
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Proceedings ArticleDOI
Parallel Tracking and Mapping for Small AR Workspaces
Georg Klein,David W. Murray +1 more
TL;DR: A system specifically designed to track a hand-held camera in a small AR workspace, processed in parallel threads on a dual-core computer, that produces detailed maps with thousands of landmarks which can be tracked at frame-rate with accuracy and robustness rivalling that of state-of-the-art model-based systems.
Journal ArticleDOI
Real-time visual tracking of complex structures
Tom Drummond,Roberto Cipolla +1 more
TL;DR: The paper describes how this tracking system has been extended to provide a general framework for tracking in complex configurations and a visual servoing system constructed using this framework is presented together with results showing the accuracy of the tracker.
Proceedings ArticleDOI
Real Time Localization and 3D Reconstruction
TL;DR: A method that estimates the motion of a calibrated camera and the tridimensional geometry of the environment and the introduction of a fast and local bundle adjustment method that ensures both good accuracy and consistency of the estimated camera poses along the sequence is described.
Journal ArticleDOI
Stable real-time 3D tracking using online and offline information
TL;DR: This work has formulated the tracking problem in terms of local bundle adjustment and developed a method for establishing image correspondences that can equally well handle short and wide-baseline matching and results in a real-time tracker that does not jitter or drift and can deal with significant aspect changes.
Proceedings ArticleDOI
Combining Edge and Texture Information for Real-Time Accurate 3D Camera Tracking
TL;DR: A method for handling multiple hypotheses for potential edge-locations that is similar in speed to approaches that consider only single hypotheses and therefore much faster than conventional multiple-hypothesis ones is proposed.