Tracking a rigid object in 3D from a single camera

Han Wang; Zheng Li

doi:10.1117/12.284031

18 August 1997 Tracking a rigid object in 3D from a single camera

Han Wang, Zheng Li

Proceedings Volume 3185, Automatic Inspection and Novel Instrumentation; (1997) https://doi.org/10.1117/12.284031
Event: ISMA '97 International Symposium on Microelectronics and Assembly, 1997, Singapore, Singapore

Abstract

In this paper, a new model-based tracking algorithm is proposed for tracking rigid objects in 6 degrees of freedom. Only one calibrated camera is used in the approach which can handle the motion of objects with known geometry. Information in 2D images from the camera would conduct motion in 3D space. The useful image features are contour edges of object to be tracked. The matching process includes two aspects of: (1) feature extraction using local minimum energy and (2) global matching of known 3D models against the projected features. The algorithm is robust to change in lighting and background. The small motion hypothesis is used for fitting feature energy which is defined as the negative absolute value of the edge strength. An autoregressive AR(1) model is employed for detecting incorrect matches in terms of the feature energy. We have found a new invariance-based method to eliminate false matches caused by strong shadow or occlusion. The invariance is the ratio of trigonometric functions of the angles formed by a polygon. Both performance analysis and real object tracking show that the proposed algorithm is effective and robust.

Citation Download Citation

Han Wang and Zheng Li "Tracking a rigid object in 3D from a single camera", Proc. SPIE 3185, Automatic Inspection and Novel Instrumentation, (18 August 1997); https://doi.org/10.1117/12.284031

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available