Camera tracking using partially modeled 3-D objects with scene textures

This paper presents an efficient camera tracking using prior knowledge of a target scene—3-D object models with scene textures. The camera tracking uses partially modeled 3-D objects instead of complete and delicate modeling, which is not easy in complex scenes with a variety of 3-D objects. For robust and accurate camera tracking, scene textures are also sparsely modeled, and they support reducing the uncertainty of camera poses; handling partial occlusions of visual cues; initializing and recovering the camera tracking. The effectiveness is verified by demonstrating its performance using various scenes.