{"title":"基于单目模型的刚性物体三维跟踪研究进展","authors":"V. Lepetit, P. Fua","doi":"10.1561/0600000001","DOIUrl":null,"url":null,"abstract":"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.","PeriodicalId":45662,"journal":{"name":"Foundations and Trends in Computer Graphics and Vision","volume":null,"pages":null},"PeriodicalIF":3.8000,"publicationDate":"2005-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"744","resultStr":"{\"title\":\"Monocular Model-Based 3D Tracking of Rigid Objects: A Survey\",\"authors\":\"V. Lepetit, P. Fua\",\"doi\":\"10.1561/0600000001\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"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.\",\"PeriodicalId\":45662,\"journal\":{\"name\":\"Foundations and Trends in Computer Graphics and Vision\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":3.8000,\"publicationDate\":\"2005-08-31\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"744\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Foundations and Trends in Computer Graphics and Vision\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1561/0600000001\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Foundations and Trends in Computer Graphics and Vision","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1561/0600000001","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS","Score":null,"Total":0}
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.
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.