Real-time markerless tracking for augmented reality: the virtual visual servoing framework

Andrew Comport 1 Eric Marchand 1 Muriel Pressigout 1 François Chaumette 1
1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : Tracking is a very important research subject in a real-time augmented reality context. The main requirements for trackers are high accuracy and little latency at a reasonable cost. In order to address these issues, a real-time, robust and efficient 3D model-based tracking algorithm is proposed for a 'video see through' monocular vision system. The tracking of objects in the scene amounts to calculating the pose between the camera and the objects. Virtual objects can then be projected into the scene using the pose. Here, non-linear pose estimation is formulated by means of a virtual visual servoing approach. In this context, the derivation of point-to-curves interaction matrices are given for different 3D geometrical primitives including straight lines, circles, cylinders and spheres. A local moving edges tracker is used in order to provide real-time tracking of points normal to the object contours. Robustness is obtained by integrating a M-estimator into the visual control law via an iteratively re-weighted least squares implementation. This approach is then extended to address the 3D model-free augmented reality problem. The method presented in this paper has been validated on several complex image sequences including outdoor environments. Results show the method to be robust to occlusion, changes in illumination and mistracking.
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Andrew Comport, Eric Marchand, Muriel Pressigout, François Chaumette. Real-time markerless tracking for augmented reality: the virtual visual servoing framework. IEEE Transactions on Visualization and Computer Graphics, Institute of Electrical and Electronics Engineers, 2006, 12 (4), pp.615-628. ⟨inria-00161250⟩

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