ITERATIVE RIGID BODY TRANSFORMATION ESTIMATION FOR VISUAL 3-D OBJECT TRACKING

Micha Hersch, Thomas Reichert, Aude Aude

Abstract

We present a novel yet simple 3D stereo vision tracking algorithm which computes the position and orientation of an object from the location of markers attached to the object. The novelty of this algorithm is that it does not assume that the markers are tracked synchronously. This provides a higher robustness to the noise in the data, missing points and outliers. The principle of the algorithm is to perform a simple gradient descent on the rigid body transformation describing the object position and orientation. This is proved to converge to the correct solution and is illustrated in a simple experimental setup involving two USB cameras.

References

  1. Altmann, S. (1986). Rotations, Quaternions and Double Groups, chapter 4, page 80. Oxford University Press.
  2. Arun, K., Huang, T., and Blostein, S. (1987). Least-squares fitting of two 3-d point sets. IEEE Transactions on Pattern Analysis and Machine Intelligence.
  3. Eggert, D., Lorusso, A., and Fisher, R. (1997). Estimating 3-d rigid body transformation: a comparison of four major algorithms. Machine Vision and Applications.
  4. Hestenes, D. (1999). New Foudations for Classical Mechanics, pages 277-305. Fundamental Theories of Physics. Kluwer Academic Publishers, 2 edition.
  5. Horn, B. (1987). Closed-form solution of absolute orientation using unit quaternions. Journal of the Optical Society of America A, 4(4):629-641.
  6. Walker, M., Shao, L., and Volz, R. (1991). Estimating 3- d location parameters using dual number quaternions. CVGIP: Image Understanding.
Download


Paper Citation


in Harvard Style

Hersch M., Reichert T. and Aude A. (2008). ITERATIVE RIGID BODY TRANSFORMATION ESTIMATION FOR VISUAL 3-D OBJECT TRACKING . In Proceedings of the Third International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2008) ISBN 978-989-8111-21-0, pages 674-677. DOI: 10.5220/0001087106740677


in Bibtex Style

@conference{visapp08,
author={Micha Hersch and Thomas Reichert and Aude Aude},
title={ITERATIVE RIGID BODY TRANSFORMATION ESTIMATION FOR VISUAL 3-D OBJECT TRACKING},
booktitle={Proceedings of the Third International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2008)},
year={2008},
pages={674-677},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001087106740677},
isbn={978-989-8111-21-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Third International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2008)
TI - ITERATIVE RIGID BODY TRANSFORMATION ESTIMATION FOR VISUAL 3-D OBJECT TRACKING
SN - 978-989-8111-21-0
AU - Hersch M.
AU - Reichert T.
AU - Aude A.
PY - 2008
SP - 674
EP - 677
DO - 10.5220/0001087106740677