3D TRACKING USING 2D-3D LINE SEGMENT CORRESPONDENCE AND 2D POINT MOTION

Woobum Kang, Shigeru Eiho

2006

Abstract

In this paper, we propose a 3D tracking method which integrates two kinds of 2D feature tracking. Our tracker searches 2D-3D correspondences used to estimate camera pose on the next frame from detected straight edges and projected 3D-CAD model on the current frame, and tracks corresponding edges on the consecutive frames. By tracking those edges, our tracker can keep correct correspondences even when large camera motion occurs. Furthermore, when the estimated pose seems incorrect, our tracker brings back to the correspondences of the previous frame and proceeds tracking of corresponding edges. Then, on the next frame, our tracker estimates the pose from those correspondences and can recover to the correct pose. Our tracker also detects and tracks corners on the image as 2D feature points, and estimates the camera pose from 2D-3D line segment correspondences and the motions of feature points on the consecutive frames. As the result, our tracker can suppress the influence of incorrect 2D-3D correspondences and can estimate the pose even when the number of detected correspondences is not enough. We also propose an approach which estimates both the camera pose and the correspondences. With this approach, our tracker can estimate the pose and the correspondence on the initial frame of the tracking. From experimental results, we confirmed our tracker can work in real-time with enough accuracy for various applications even with a less accurate CAD model and noizy low resolution images.

References

  1. Besl, P. J. and McKay, N. D. (1992). A Method for Registration of 3-D Shapes. IEEE Trans. Pattern Anal. Mach. Intell., 14(2):239-256.
  2. Canny, J. (1986). A computational approach to edge detection. IEEE Trans. Pattern Anal. Mach. Intell., 8(6):679-698.
  3. Chiba, N. and Kanade, T. (1998). A Tracker for Broken and Closely Spaced Lines. In ISPRS 7898, volume XXXII, pages 676 - 683.
  4. Christy, S. and Horaud, R. (1999). Iterative Pose Computation from Line Correspondences. CVIU, 73(1):137- 144.
  5. Comport, A., Marchand, E., and Chaumette, F. (2003). A real-time tracker for markerless augmented reality. In ISMAR'03, pages 36-45.
  6. Drummond, T. and Cipolla, R. (2002). Real-Time Visual Tracking of Complex Structures. IEEE Trans. Pattern Anal. Mach. Intell., 24(7):932-946.
  7. G.A.F. Seber, C. (1981). Nonlinear Regression, chapter 14. Wiley.
  8. Hartley, R. I. and Zisserman, A. (2000). Multiple View Geometry in Computer Vision. Cambridge University Press.
  9. L. Vacchetti, V. L. and Fua, P. (2004a). Combining Edge and Texture Information for Real-Time Accurate 3D Camera Tracking. In ISMAR'04, pages 48-57.
  10. L. Vacchetti, V. L. and Fua, P. (2004b). Stable Real-Time 3D Tracking Using Online and Offline Information. IEEE Trans. Pattern Anal. Mach. Intell., 26(10):1385- 1391.
  11. Liu, Y., Huang, T. S., and Faugeras, O. D. (1990). Determination of Camera Location from 2-D to 3-D Line and Point Correspondences. IEEE Trans. Pattern Anal. Mach. Intell., 12(1):28-37.
  12. Lowe, D. G. (1987). Three-Dimensional Object Recognition from Single Two-Dimensional Images. Artificial Intelligence, 31(3):355-395.
  13. Lowe, D. G. (1992). Robust model-based motion tracking through the integration of search and estimation. IJCV, 8(2):113-122.
  14. Lucas, B. and Kanade, T. (1981). An Iterative Image Registration Technique with an Application to Stereo Vision. In IJCAI'81, pages 674-679.
  15. Phong, T., Horaud, R., Yassine, A., and Tao, P. (1995). Object Pose from 2-D to 3-D Point and Line Correspondences. IJCV, 15(3):225-243.
  16. Powell, M. J. D. (1970). A Hybrid Method for Non-linear Equations. In Rabinowitz, P., editor, Numerical Methods for Non-linear Equations , pages 87-114. Gordon and Breach.
  17. Shi, J. and Tomasi, C. (1994). Good Features to Track. In CVPR'94.
Download


Paper Citation


in Harvard Style

Kang W. and Eiho S. (2006). 3D TRACKING USING 2D-3D LINE SEGMENT CORRESPONDENCE AND 2D POINT MOTION . In Proceedings of the First International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP, ISBN 972-8865-40-6, pages 278-285. DOI: 10.5220/0001365402780285


in Bibtex Style

@conference{visapp06,
author={Woobum Kang and Shigeru Eiho},
title={3D TRACKING USING 2D-3D LINE SEGMENT CORRESPONDENCE AND 2D POINT MOTION},
booktitle={Proceedings of the First International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP,},
year={2006},
pages={278-285},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001365402780285},
isbn={972-8865-40-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the First International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP,
TI - 3D TRACKING USING 2D-3D LINE SEGMENT CORRESPONDENCE AND 2D POINT MOTION
SN - 972-8865-40-6
AU - Kang W.
AU - Eiho S.
PY - 2006
SP - 278
EP - 285
DO - 10.5220/0001365402780285