Robust extended Kalman filtering for camera pose tracking using 2D to 3D lines correspondences

Fakhr-Eddine Ababsa (1)

1 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes

In this paper we present a new robust camera pose estimation approach based on 3D lines tracking. We used an Extended Kalman Filter (EKF) to incrementally update the camera pose in real-time. The principal contributions of our method includes first, the expansion of the RANSAC scheme in order to achieve a robust matching algorithm that associates 2D edges from the image with the 3D line segments from the input model. And second, a new framework for camera pose estimation using 2D-3D straight-lines within an EKF. Experimental results on real image sequences are presented to evaluate the performances and the feasibility of the proposed approach.

Mots clés: Robust matching; Real image sequences; Camera pose estimation; Extended Kalman filtering; Input models; Pose tracking

Domaines: Mécanique [physics.med-ph]

Fakhr-Eddine Ababsa. Robust extended Kalman filtering for camera pose tracking using 2D to 3D lines correspondences. IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2009), Jul 2009, Singapore, Singapore. pp.1834-1838, ⟨10.1109/AIM.2009.5229789⟩. ⟨hal-00869649⟩