Skip to Main content Skip to Navigation
Conference papers

Robust stereo tracking for space applications.

F. Dionnet 1 Eric Marchand 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 : This paper proposes a real-time, robust and effi- cient 3D model-based tracking algorithm for visual servoing. A virtual visual servoing approach is used for 3D tracking. This method is similar to more classical non-linear pose computa- tion techniques. Robustness is obtained by integrating an M- estimator into the virtual visual control law via an iteratively re- weighted least squares implementation. The presented approach is also extended to the use of multiple cameras. Results show the method to be robust to occlusion, changes in illumination and miss-tracking.
Document type :
Conference papers
Complete list of metadata

https://hal.inria.fr/inria-00261402
Contributor : Eric Marchand <>
Submitted on : Thursday, March 6, 2008 - 5:46:02 PM
Last modification on : Wednesday, June 16, 2021 - 3:41:33 AM
Long-term archiving on: : Friday, May 21, 2010 - 12:00:58 AM

File

2007_iros_dionnet.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : inria-00261402, version 1

Citation

F. Dionnet, Eric Marchand. Robust stereo tracking for space applications.. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'07, IEEE, Nov 2007, San Diego, United States. pp.3373-3378. ⟨inria-00261402⟩

Share

Metrics

Record views

459

Files downloads

534