This paper considers a robust direct homography tracking that takes advantage of the known intrinsic parameters of the camera to estimate its pose in real scale, to speed-up the convergence, and to drastically increase the robustness of the tracking. Indeed, our new formulation for direct homography tracking allows us to explicitly solve a 6 Degrees Of Freedom (DOF) rigid transformation between the plane and the camera. Furthermore, it simplies the integration of the Extended Kalman Filter (EKF) which allows us to increase the computational speed and deal with large motions. For the sake of robustness, our approach also includes a pyramidal optimization using an Enhanced Correlation Coefficient (ECC) based objective function. The experiments show the high efficiency of our approach against state of the art methods and under challenging conditions.
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|Hyowon Ha, Francois Rameau, In So Kweon
|The 7th Pacific Rim Symposium on Image and Video Technology (PSIVT) [oral]
|Ack: This work was supported by the National Research Foundation of Korea (NRF) grant funded by the Korea government (MSIP) (No. 2010-0028680).
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