TY - JOUR
T1 - Real-time 3D surface tracking and its applications
AU - Ramey, Nicholas A.
AU - Corso, Jason J.
AU - Lau, William W.
AU - Burschka, Darius
AU - Hager, Gregory D.
N1 - Publisher Copyright:
© 2004 IEEE.
PY - 2004
Y1 - 2004
N2 - We present a general technique for directly estimating and tracking surfaces from a stream of rectified stereo pairs in real-time. These techniques are based on the iterative updating of surface representations directly from image information and use no disparity search except during initialization. We perform the tracking through an iteratively re-weighted least squares minimization wherein a mask is incorporated to increase robustness to occlusion. The algorithms are formulated for a general family of linear in parameters surface models and discussed for the cases of planar surfaces and tensor product surfaces. These algorithms have been implemented on standard hardware and run at or near frame rate, with accuracy on the order of 1/20 of a pixel. We discuss applications of the technique including mobile robot localization, general deforming surface tracking, and biometry of biological surfaces.
AB - We present a general technique for directly estimating and tracking surfaces from a stream of rectified stereo pairs in real-time. These techniques are based on the iterative updating of surface representations directly from image information and use no disparity search except during initialization. We perform the tracking through an iteratively re-weighted least squares minimization wherein a mask is incorporated to increase robustness to occlusion. The algorithms are formulated for a general family of linear in parameters surface models and discussed for the cases of planar surfaces and tensor product surfaces. These algorithms have been implemented on standard hardware and run at or near frame rate, with accuracy on the order of 1/20 of a pixel. We discuss applications of the technique including mobile robot localization, general deforming surface tracking, and biometry of biological surfaces.
UR - http://www.scopus.com/inward/record.url?scp=84932615138&partnerID=8YFLogxK
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U2 - 10.1109/CVPR.2004.425
DO - 10.1109/CVPR.2004.425
M3 - Conference article
AN - SCOPUS:84932615138
SN - 2160-7508
VL - 2004-January
JO - IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops
JF - IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops
IS - January
M1 - 1384825
T2 - 2004 IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops, CVPRW 2004
Y2 - 27 June 2004 through 2 July 2004
ER -