Abstract
Tracking objects under difficult conditions is a challenging topic in many real life and outdoor applications. In particular persistent occlusion of large parts of the model, difficult lighting conditions, and a noisy background result in a failure of many available algorithms. To overcome these difficult problems we significantly extend the existing RAPiD approach, in particular by putting sample control points at random intervals, and providing the possibility for fix points. We show how to automatically extract an edge model that is suitable for tracking from CAD models. The benefit of our approach is presented by means of a real life outdoor application scenario suffering from the mentioned bad conditions. We obtain relative translation and rotation errors that are only moderately higher than those in less challenging setups.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Harris, C.: Tracking with rigid models. In: Active Vision, pp. 59–73. MIT Press, Cambridge (1993)
Lepetit, V., Fua, P.: Monocular model-based 3d tracking of rigid objects. Found. Trends. Comput. Graph. Vis. 1, 1–89 (2005)
Drummond, T., Cipolla, R.: Real-time visual tracking of complex structures. IEEE Transactions on Pattern Analysis and Machine Intelligence 24, 932–946 (2002)
Armstrong, M., Zisserman, A.: Robust object tracking. In: Asian Conference on Computer Vision, vol. I, pp. 58–61 (1995)
Yoon, Y., Kosaka, A., Park, J.B., Kak, A.C.: A new approach to the use of edge extremities for model-based object tracking. In: IEEE International Conference on Robotics and Automation, ICRA 2005, pp. 1871–1877 (2005)
Vacchetti, L., Lepetit, V., Fua, P.: Combining edge and texture information for real-time accurate 3D camera tracking. In: Third IEEE and ACM International Symposium on Mixed and Augmented Reality, ISMAR 2004, pp. 48–56 (2004)
Vacchetti, L., Lepetit, V., Fua, P.: Fusing online and offline information for stable 3d tracking in real-time. In: Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, vol. 2, pp. II-241–II-248(2003)
Tordoff, B., Mayol, W.W., de Campos, T.E., Murray, D.W.: Head pose estimation for wearable robot control. In: Proceedings of the British Machine Vision Conference, pp. 2–5 (2002)
Choi, C., Christensen, H.I.: Real-time 3d model-based tracking using edge and keypoint features for robotic manipulation. In: 2010 IEEE International Conference on Robotics and Automation (ICRA), pp. 4048–4055 (2010)
Wuest, H., Stricker, D., Herder, J.: Tracking of industrial objects by using CAD models. Journal of Virtual Reality and Broadcasting 4 (2007)
Brüning, A., von Lukas, U., Vahl, M.: Automatic preparation of product data for markerless optical tracking. In: Proceedings of ProSTEP iViP Science Days 2007 (2007)
Platonov, J., Langer, M.: Automatic contour model creation out of polygonal cad models for markerless augmented reality. In: Proceedings of the 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, ISMAR 2007, pp. 1–4. IEEE Computer Society, Washington, DC (2007)
Comport, A.I., Marchand, E., Chaumette, F.: Object-based visual 3d tracking of articulated objects via kinematic sets. In: Proceedings of the 2004 Conference on Computer Vision and Pattern Recognition Workshop, CVPRW 2004, vol. 1. IEEE Computer Society, Washington, DC (2004)
Park, H., Mitsumine, H., Fujii, M.: Adaptive edge detection for robust model-based camera tracking. IEEE Consumer Electronics, 1465–1470 (2011)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Reinke, S., Gutzeit, E., Mesing, B., Vahl, M. (2012). Tracking Technical Objects in Outdoor Environment Based on CAD Models. In: Bebis, G., et al. Advances in Visual Computing. ISVC 2012. Lecture Notes in Computer Science, vol 7431. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33179-4_42
Download citation
DOI: https://doi.org/10.1007/978-3-642-33179-4_42
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-33178-7
Online ISBN: 978-3-642-33179-4
eBook Packages: Computer ScienceComputer Science (R0)