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Efficient, causal camera tracking in unprepared environments q

Summary: Efficient, causal camera tracking
in unprepared environments q
Manolis I.A. Lourakis *, Antonis A. Argyros
Institute of Computer Science, Foundation for Research and Technology--Hellas,
Vassilika Vouton, P.O. Box 1385, GR 711 10, Heraklion, Crete, Greece
Received 14 July 2004; accepted 23 February 2005
Available online 25 March 2005
This paper addresses the problem of tracking the 3D pose of a camera in space, using
the images it acquires while moving freely in unmodeled, arbitrary environments. A novel
feature-based approach for camera tracking is proposed, intended to facilitate tracking in
on-line, time-critical applications such as video see-through augmented reality. In contrast
to several existing methods which are designed to operate in a batch, off-line mode,
assuming that the whole video sequence to be tracked is available before tracking com-
mences, the proposed method operates on images incrementally. At its core lies a fea-
ture-based 3D plane tracking technique, which permits the estimation of the
homographies induced by a virtual 3D plane between successive image pairs. Knowledge
of these homographies allows the corresponding projection matrices encoding camera
motion to be expressed in a common projective frame and, therefore, to be recovered
directly, without estimating 3D structure. Projective camera matrices are then upgraded


Source: Argyros, Antonis - Foundation of Research and Technology, Hellas & Department of Computer Science, University of Crete


Collections: Computer Technologies and Information Sciences