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+---
+title: "14-computer-vision-for-p&u-computing"
+tags: 
+- info305
+- lecture
+---
+
+
+Model-based Tracking 
+- Requires CAD/3D model of the scene 
+- Uses a prior estimate of camera position 
+- 3D model is projected into the camera’s view for every frame, computing the visible parts of edges 
+- Searches in the direction of the edge normal for the nearest edge in the video image
+
+
+- Hybrid tracking combining inertial sensor with model-based tracking 
+- Uses a textured 3D model of an urban environment 
+- Instead of only using edges, includes appearance of edges
+
+
+- Method: 
+	- View rendered from previous pose 
+	- Edges are extracted from this rendered view 
+	- Search window slides along edge normal in camera image to search for corresponding edge 
+	- Information is then used to update camera pose
+
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@@ -27,4 +27,6 @@ tags:
 - [x] [[10-orientation-sensors]] 
 - [x] [[11-orientation sensors-2]]
 - [x] [[12-advanced-sensing-and-vision-sensors]]
+- [ ] [[13-computer-vision]]
+- [ ] [[14-computer-vision-for-p&u-computing]]
 # Info
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