Edge-based Tracking |
The approach is based upon a CAD model of the structure that is to be tracked.
The CAD model is rendered from a predicted viewpoint (this may be where the object was found in the previous frame, or a motion estimate may be used to give a more accurate prediction). | |
This identifies the edges of the model which are expected to be visible. Sample points are then assigned at uniform intervals along these visible edges | |
A search is then conducted from each sample point
for an intensity discontinuity in the video image
A change in the pose estimate is then computed which minimises these errors. This is achieved using iterative re-weighted least squares which allows the use of an M-estimator which is robust to outliers. The following videos show the basic tracker in action. |