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Real-time quadrifocal visual odometry. The International Journal of Robotics Research, 29(2-3):245–266. ha l-0 9, v er sio n - 1 Ju n Comport
- IEEE Transactions on Visualization and Computer Graphics
, 2010
"... HAL is a multi-disciplinary open access archive for the deposit and dissemination of sci-entific research documents, whether they are pub-lished or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L’archive ouverte p ..."
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Cited by 27 (10 self)
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HAL is a multi-disciplinary open access archive for the deposit and dissemination of sci-entific research documents, whether they are pub-lished or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers. L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et a ̀ la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d’enseignement et de recherche français ou étrangers, des laboratoires publics ou privés.
Accurate Real-time Tracking Using Mutual Information
, 2010
"... In this paper we present a direct tracking approach that uses Mutual Information (MI) as a metric for alignment. The proposed approach is robust, real-time and gives an accurate estimation of the displacement that makes it adapted to augmented reality applications. MI is a measure of the quantity ..."
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Cited by 21 (4 self)
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In this paper we present a direct tracking approach that uses Mutual Information (MI) as a metric for alignment. The proposed approach is robust, real-time and gives an accurate estimation of the displacement that makes it adapted to augmented reality applications. MI is a measure of the quantity of information shared by signals that has been widely used in medical applications. Since then, and although MI has the ability to perform robust alignment with illumination changes, multi-modality and partial occlusions, few works propose MI-based applications related to object tracking in image sequences due to some optimization problems. In this work, we propose an optimization method that is adapted to the MI cost function and gives a practical solution for augmented reality application. We show that by refining the computation of the Hessian matrix and using a specific optimization approach, the tracking results are far more robust and accurate than the existing solutions. A new approach is also proposed to speed up the computation of the derivatives and keep the same optimization efficiency. To validate the advantages of the proposed approach, several experiments are performed. The ESM and the proposed MI tracking approaches are compared on a standard dataset. We also show the robustness of the proposed approach on registration applications with different sensor modalities: map versus satellite images and satellite images versus airborne infrared images within different AR applications.
Real-time Hybrid Tracking using Edge and Texture Information
, 2007
"... This paper proposes a real-time, robust and effective tracking framework for visual servoing applications. The algorithm is based on the fusion of visual cues and on the estimation of a transformation (either a homography or a 3D pose). The parameters of this transformation are estimated using a non ..."
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Cited by 19 (3 self)
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This paper proposes a real-time, robust and effective tracking framework for visual servoing applications. The algorithm is based on the fusion of visual cues and on the estimation of a transformation (either a homography or a 3D pose). The parameters of this transformation are estimated using a non-linear minimization of a unique criterion that integrates information both on the texture and the edges of the tracked object. The proposed tracker is more robust and performs well in conditions where methods based on a single cue fail. The framework has been tested for 2D object motion estimation and pose computation. The method presented in this paper has been validated on several video sequences as well as in visual servoing experiments considering various objects. Results show the method to be robust to occlusions or textured backgrounds and suitable for visual servoing applications.
OutlinAR: an assisted interactive model building system with reduced computational effort
- 2008 7th IEEE/ACM International Symposium on Mixed and Augmented Reality, Ieee
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Real-time 3d model-based tracking: Combining edge and texture information
- ICRA
, 2006
"... This paper proposes a real-time, robust and efficient 3D model-based tracking algorithm. A non linear minimization approach is used to register 2D and 3D cues for monocular 3D tracking. The integration of texture information in a more classical non-linear edge-based pose computation highly increase ..."
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Cited by 17 (1 self)
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This paper proposes a real-time, robust and efficient 3D model-based tracking algorithm. A non linear minimization approach is used to register 2D and 3D cues for monocular 3D tracking. The integration of texture information in a more classical non-linear edge-based pose computation highly increases the reliability of more conventional edge-based 3D tracker. Robustness is enforced by integrating a M-estimator into the minimization process via an iteratively re-weighted least squares implementation. The method presented in this paper has been validated on several video sequences as well as in visual servoing experiments considering various objects. Results show the method to be robust to large motions and textured environments.
Real-time model-based slam using line segments
- In Int. Symp. on Visual Computing
, 2006
"... Abstract. Existing monocular vision-based SLAM systems favour interest point features as landmarks, but these are easily occluded and can only be reliably matched over a narrow range of viewpoints. Line segments offer an interesting alternative, as line matching is more stable with respect to viewpo ..."
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Cited by 15 (4 self)
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Abstract. Existing monocular vision-based SLAM systems favour interest point features as landmarks, but these are easily occluded and can only be reliably matched over a narrow range of viewpoints. Line segments offer an interesting alternative, as line matching is more stable with respect to viewpoint changes and lines are robust to partial occlusion. In this paper we present a model-based SLAM system that uses 3D line segments as landmarks. Unscented Kalman filters are used to initialise new line segments and generate a 3D wireframe model of the scene that can be tracked with a robust model-based tracking algorithm. Uncertainties in the camera position are fed into the initialisation of new model edges. Results show the system operating in real-time with resilience to partial occlusion. The maps of line segments generated during the SLAM process are physically meaningful and their structure is measured against the true 3D structure of the scene. 1
Using multiple hypothesis in model-based tracking
, 2010
"... Classic registration methods for model-based tracking try to align the projected edges of a 3D model with the edges of the image. However, wrong matches at low level can make these methods fail. This paper presents a new approach allowing to retrieve multiple hypothesis on the camera pose from multi ..."
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Cited by 14 (3 self)
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Classic registration methods for model-based tracking try to align the projected edges of a 3D model with the edges of the image. However, wrong matches at low level can make these methods fail. This paper presents a new approach allowing to retrieve multiple hypothesis on the camera pose from multiple low-level hypothesis. These hypothesis are integrated into a particle filtering framework to guide the particle set toward the peaks of the distribution. Experiments on simulated and real video sequences show the improvement in robustness of the resulting tracker.
Vision-based Space Autonomous Rendezvous : A Case Study
- in "IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS’11
, 2011
"... Abstract — For a space rendezvous mission, autonomy imposes stringent performance requirements regarding navigation. For the final phase, a vision-based navigation can be a solution. A 3D model-based tracking algorithm has been studied and tested on a mock-up of a telecommunication satellite, using ..."
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Cited by 12 (6 self)
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Abstract — For a space rendezvous mission, autonomy imposes stringent performance requirements regarding navigation. For the final phase, a vision-based navigation can be a solution. A 3D model-based tracking algorithm has been studied and tested on a mock-up of a telecommunication satellite, using a 6-DOF robotic arm, with satisfactory results, in terms of precision of the pose estimation and computational costs. Quantitative tests in open loop have been carried out to show the robustness of the algorithm to relative inter frame motions chaser/target, orientation variations and illumination conditions. The tracking algorithm has also been successfully implemented in a closed loop chain for visual servoing. I.
Experiments with robust estimation techniques in real-time robot vision
- IN "IEEE/RSJ INT. CONF. ON INTELLIGENT ROBOTS AND SYSTEMS, IROS’06
, 2006
"... The goal of this paper is to present an overview of robust estimation techniques with a special focus on robotic vision applications. In this particular context, constraints due computation time have to be considered in the choice of the estimation algorithm. Among the numerous techniques proposed ..."
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Cited by 11 (2 self)
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The goal of this paper is to present an overview of robust estimation techniques with a special focus on robotic vision applications. In this particular context, constraints due computation time have to be considered in the choice of the estimation algorithm. Among the numerous techniques proposed in the literature to obtained robust estimation we have, not being exhaustive, Hough transform, RANSAC (Random Sample Consensus), the LMedS (Least Median of Squares), the Mestimators, etc. In this overview, we describe these various approaches in the light of a simple example. Finally, we illustrate the use of robust estimation techniques by various examples in real-time robot vision.
Fort-Piat, A multiscale calibration of a photon video microscope for visual servo control: Application to micromanipulation
- IEEE International Workshop on Robotic and Sensors Environments
, 2008
"... Abstract: For many years, the increasing development of microcomponents based products requires more and more microassembly systems to permit the assembly of micrometric parts and MEMS. These systems require different tasks such as micromanipulation, microassembly, supervision, quality inspection an ..."
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Cited by 10 (4 self)
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Abstract: For many years, the increasing development of microcomponents based products requires more and more microassembly systems to permit the assembly of micrometric parts and MEMS. These systems require different tasks such as micromanipulation, microassembly, supervision, quality inspection and also require accurate metric measurements from images. The most widely used image sensor is the photon videomicroscope which is characterized by several weaknesses such as the depthof-field and the field-of-view. This paper deals with the calibration of this kind of imaging system used for robotic microassembly. In the first part, a multiscale calibration paradigm is proposed and is used 3 to pick and place silicon microparts ( 400 × 400 × 100µm) using multiscale 2D visual servoing. In a second part, these microparts are assembled by a 3D visual control approach. High precision, repeatable results are obtained during the MEMS manipulation and assembly tasks.
