quartz/content/notes/14-computer-vision-for-p&u-computing.md

title	tags
14-computer-vision-for-p&u-computing	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