基于单目模型的刚性物体三维跟踪研究进展

IF 3.8 Q2 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS Foundations and Trends in Computer Graphics and Vision Pub Date : 2005-08-31 DOI:10.1561/0600000001
V. Lepetit, P. Fua
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引用次数: 744

摘要

许多应用程序需要跟踪复杂的3D对象。其中包括机器人手臂在特定目标物体上的视觉伺服,需要实时注册要增强的物体的增强现实系统,以及复杂接口可以使用的头部跟踪系统。计算机视觉提供了廉价、实用和非侵入性的解决方案。本调查回顾了工业和研究开发的不同技术和方法。首先介绍了重要的数学工具:摄像机表示、鲁棒估计和不确定性估计。然后,对增强现实和机器人社区开发的众多方法进行了全面的研究,从那些基于点或平面基准标记的方法开始,然后转向那些通过依赖边缘、纹理或兴趣等自然特征来避免对环境进行工程设计的方法。本文还介绍了避免手动初始化和快速运动导致的故障的最新进展。该调查总结了在实施3D跟踪系统时应该做出的不同可能选择,并讨论了基于视觉的3D跟踪的未来。因为它涵盖了从低级视觉到3D几何的许多计算机视觉技术,并且包括对该主题的大量文献的全面研究,因此该调查应该是想要实现3D跟踪系统的学生,研究人员或工程师的手册。
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Monocular Model-Based 3D Tracking of Rigid Objects: A Survey
Many applications require tracking of complex 3D objects. These include visual servoing of robotic arms on specific target objects, Augmented Reality systems that require real-time registration of the object to be augmented, and head tracking systems that sophisticated interfaces can use. Computer Vision offers solutions that are cheap, practical and non-invasive.This survey reviews the different techniques and approaches that have been developed by industry and research. First, important mathematical tools are introduced: Camera representation, robust estimation and uncertainty estimation. Then a comprehensive study is given of the numerous approaches developed by the Augmented Reality and Robotics communities, beginning with those that are based on point or planar fiducial marks and moving on to those that avoid the need to engineer the environment by relying on natural features such as edges, texture or interest. Recent advances that avoid manual initialization and failures due to fast motion are also presented. The survery concludes with the different possible choices that should be made when implementing a 3D tracking system and a discussion of the future of vision-based 3D tracking.Because it encompasses many computer vision techniques from low-level vision to 3D geometry and includes a comprehensive study of the massive literature on the subject, this survey should be the handbook of the student, the researcher, or the engineer who wants to implement a 3D tracking system.
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来源期刊
Foundations and Trends in Computer Graphics and Vision
Foundations and Trends in Computer Graphics and Vision COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS-
CiteScore
31.20
自引率
0.00%
发文量
1
期刊介绍: The growth in all aspects of research in the last decade has led to a multitude of new publications and an exponential increase in published research. Finding a way through the excellent existing literature and keeping up to date has become a major time-consuming problem. Electronic publishing has given researchers instant access to more articles than ever before. But which articles are the essential ones that should be read to understand and keep abreast with developments of any topic? To address this problem Foundations and Trends® in Computer Graphics and Vision publishes high-quality survey and tutorial monographs of the field. Each issue of Foundations and Trends® in Computer Graphics and Vision comprises a 50-100 page monograph written by research leaders in the field. Monographs that give tutorial coverage of subjects, research retrospectives as well as survey papers that offer state-of-the-art reviews fall within the scope of the journal.
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