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Real-Time Tracking of Complex Structures for Visual Servoing

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Vision Algorithms: Theory and Practice (IWVA 1999)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 1883))

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Abstract

This paper presents a visual servoing system which incorporates a novel three-dimensional model-based tracking system. This tracking system extends constrained active contour tracking techniques into three dimensions, placing them within a Lie algebraic framework. This is combined with modern graphical rendering technology to create a system which can track complex three dimensional structures in real time at video frame rate (25 Hz) on a standard workstation without special hardware. The system is based on an internal CAD model of the object to be tracked which is rendered using binary space partition trees to perform hidden line removal. The visible features are identified on-line at each frame and are tracked in the video feed. Analytical and statistical edge saliency are then used as a means of increasing the robustness of the tracking system.

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Author information

Authors and Affiliations

  1. Department of Engineering, University of Cambridge, Trumpington Street, Cambridge, UK, CB2 1PZ

    Tom Drummond & Roberto Cipolla

Authors
  1. Tom Drummond
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  2. Roberto Cipolla
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Editor information

Editors and Affiliations

  1. INRIA Rhône-Alpes, 655 avenue de l’Europe, Montbonnot, 38330, France

    Bill Triggs

  2. Department of Engineering Science, Oxford University, 19 Parks Road, OX1 3PJ, UK

    Andrew Zisserman

  3. Microsoft Research, Redmond, WA, 98052-6399, USA

    Richard Szeliski

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© 2000 Springer-Verlag Berlin Heidelberg

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Drummond, T., Cipolla, R. (2000). Real-Time Tracking of Complex Structures for Visual Servoing. In: Triggs, B., Zisserman, A., Szeliski, R. (eds) Vision Algorithms: Theory and Practice. IWVA 1999. Lecture Notes in Computer Science, vol 1883. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-44480-7_5

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  • DOI: https://doi.org/10.1007/3-540-44480-7_5

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-67973-8

  • Online ISBN: 978-3-540-44480-0

  • eBook Packages: Springer Book Archive

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