Adaptive tracking and model registration across distinct aspects

I
IROS
1995
International Conference on Intelligent Robots and Systems-Volume 1
Abstract - Adaptive tracking and model registration across distinct aspects

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	Similar Articles Articles by S. Ravela Articles by B. Draper Articles by J. Lim Articles by R. Weiss

International Conference on Intelligent Robots and Systems-Volume 1

Pittsburgh, Pennsylvania, USA

August 05-August 09

ISBN: 0-8186-7108-4

	ASCII Text	x
	S. Ravela, B. Draper, J. Lim, R. Weiss, "Adaptive tracking and model registration across distinct aspects," Intelligent Robots and Systems, IEEE/RSJ International Conference on, vol. 1, pp. 174, International Conference on Intelligent Robots and Systems-Volume 1, 1995.

	BibTex	x
	@article{ 10.1109/IROS.1995.525793, author = {S. Ravela and B. Draper and J. Lim and R. Weiss}, title = {Adaptive tracking and model registration across distinct aspects}, journal ={Intelligent Robots and Systems, IEEE/RSJ International Conference on}, volume = {1}, year = {1995}, isbn = {0-8186-7108-4}, pages = {174}, doi = {http://doi.ieeecomputersociety.org/10.1109/IROS.1995.525793}, publisher = {IEEE Computer Society}, address = {Los Alamitos, CA, USA}, }

	RefWorks Procite/RefMan/Endnote	x
	TY - CONF JO - Intelligent Robots and Systems, IEEE/RSJ International Conference on TI - Adaptive tracking and model registration across distinct aspects SN - 0-8186-7108-4 SP EP A1 - S. Ravela, A1 - B. Draper, A1 - J. Lim, A1 - R. Weiss, PY - 1995 KW - tracking; image registration; statistical analysis; adaptive tracking; model registration; pose determination; aspect graph indexing; steerable filters; normalized cross-correlation; rotation compensation; robust statistical methods; pose estimation; mismatches detection; mismatches removal; aspect graph VL - 1 JA - Intelligent Robots and Systems, IEEE/RSJ International Conference on ER -

S. Ravela, Comput. Vision Res. Lab., Massachusetts Univ., Amherst, MA, USA

B. Draper, Comput. Vision Res. Lab., Massachusetts Univ., Amherst, MA, USA

J. Lim, Comput. Vision Res. Lab., Massachusetts Univ., Amherst, MA, USA

R. Weiss, Comput. Vision Res. Lab., Massachusetts Univ., Amherst, MA, USA

DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/IROS.1995.525793

A model registration system capable of tracking an object through distinct aspects in real-time is presented. The system integrates tracking, pose determination, and aspect graph indexing. The tracking combines steerable filters with normalized cross-correlation, compensates for rotation in 2D and is adaptive. Robust statistical methods are used in the pose estimation to detect and remove mismatches. The aspect graph is used to determine when features will disappear or become difficult to trade and to predict when and where new features will become trackable. The overall system is stable and is amenable to real-time performance.

Index Terms:

tracking; image registration; statistical analysis; adaptive tracking; model registration; pose determination; aspect graph indexing; steerable filters; normalized cross-correlation; rotation compensation; robust statistical methods; pose estimation; mismatches detection; mismatches removal; aspect graph

Citation:

S. Ravela, B. Draper, J. Lim, R. Weiss, "Adaptive tracking and model registration across distinct aspects," iros, vol. 1, pp.174, International Conference on Intelligent Robots and Systems-Volume 1, 1995

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