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1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE 2 ASTRIUM

Abstract : This paper focuses on the issue of estimating the complete 3D pose of the camera with respect to a complex object, in a potentially highly dynamic scene, through model- based tracking. We propose to robustly combine complementary geometrical edge and point features with color based features in the minimization process. A Kalman filtering and pose pre- diction process is also suggested to handle potential large inter- frame motions. In order to deal with complex 3D models, our method takes advantage of hardware acceleration. Promising results, outperforming classical state-of-art approaches, have been obtained on various real and synthetic image sequences, with a focus on space robotics applications.





Author: Antoine Petit - Eric Marchand - Keyvan Kanani -

Source: https://hal.archives-ouvertes.fr/



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