A Real-Time Tracker For Markerless Augmented Reality

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A Real-Time Tracker For Markerless Augmented Reality (2003)

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by Andrew I. Comport , Eric Marchand , Francois Chaumette

Venue:	In ACM/IEEE Int. Symp. on Mixed and Augmented Reality, ISMAR’03
Citations:	55 - 16 self

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@INPROCEEDINGS{Comport03areal-time,
    author = {Andrew I. Comport and Eric Marchand and Francois Chaumette},
    title = {A Real-Time Tracker For Markerless Augmented Reality},
    booktitle = {In ACM/IEEE Int. Symp. on Mixed and Augmented Reality, ISMAR’03},
    year = {2003},
    pages = {36--45}
}

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Abstract

Augmented Reality has now progressed to the point where real-time applications are being considered and needed. At the same time it is important that synthetic elements are rendered and aligned in the scene in an accurate and visually acceptable way. In order to address these issues a real-time, robust and efficient 3D model-based tracking algorithm is proposed for a 'video see through' monocular vision system. The tracking of objects in the scene amounts to calculating the pose between the camera and the objects. Virtual objects can then be projected into the scene using the pose. Here, non-linear pose computation is formulated by means of a virtual visual servoing approach. In this context, the derivation of point-to-curves interaction matrices are given for different features including lines, circles, cylinders and spheres. A local moving edges tracker is used in order to provide real-time tracking of points normal to the object contours. A method is proposed for combining local position uncertainty and global pose uncertainty in an efficient and accurate way by propagating uncertainty. Robustness is obtained by integrating a M-estimator into the visual control law via an iteratively re-weighted least squares implementation. The method presented in this paper has been validated on several complex image sequences including outdoor environments. Results show the method to be robust to occlusion, changes in illumination and misstracking. 1.

Keyphrases

markerless augmented reality real-time tracker synthetic element local position uncertainty real-time tracking virtual object local moving edge tracker acceptable way monocular vision system real-time application iteratively re-weighted least square implementation several complex image sequence object contour global pose uncertainty outdoor environment visual control law point-to-curves interaction matrix non-linear pose computation scene amount virtual visual servoing approach different feature accurate way

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