FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W2595114202> ?p ?o ?g. }

• W2595114202 abstract "This thesis treats real-time 3D tracking of rigid and non-rigid objects using an apriori CAD model of the environment and a monocular vision sensor. The tracking is based on the estimation of the pose between the camera and its environment and is essential for many applications such as Augmented Reality (AR) or Visual Servoing (VS). The pose is estimated via a non-linear relation between visual features extracted from the image and the projection of the 3D object onto the image. The estimation is considered as synonymous to a Virtual Visual Servoing control law.The local features, comprising elements of the contours of the object, are tracked by an efficient Moving Edges (ME) technique. An adaptation of this tracker is proposed to make it invariant to changes in scale of the contour and so that no predetermined threshold is needed. The features and the model are related to the pose by distance-to-contour type interaction matrices.In order to take into account erroneous data a robust closed loop control law is proposed. It is based on the robust statistical technique of M-estimation which allows to consider a general class of errors including : noise in feature extraction, small tracking errors and large correspondence errors.In a last part, the approach is extended to a class of non-rigid objects in 3D. More particularly, different types of mechanical joints are defined within the CAD model. The configuration of an articulated object is therefore obtained from a set of generalised parameters which represent both the pose of all the components of the object as well as the relative poses between the different components. In order to derive the minimal parameter representation a Kinematic Set approach is proposed. Kinematic subsets are derived in a symmetric manner using velocity constraints associated with the mechanical joints. The subsets are then combined to form the articulation matrix which defines the minimal representation.Experimental results are finally presented on several indoor and outdoor sequences. They show the efficiency of the proposed 3D tracking method even with severe outlier contamination including occlusion, changes in illumination and miss-tracking. In the case of articulated motion tracking, experiments have validated the approach for prismatic, rotational and helical type joints." @default.
• W2595114202 created "2017-03-23" @default.
• W2595114202 creator A5066992384 @default.
• W2595114202 date "2005-09-23" @default.
• W2595114202 modified "2023-09-22" @default.
• W2595114202 title "Towards a computer imagination: Robust real-time 3D tracking of rigid and articulated objects for augmented reality and robotics" @default.
• W2595114202 cites W1248631366 @default.
• W2595114202 cites W134451811 @default.
• W2595114202 cites W1479717868 @default.
• W2595114202 cites W1483307070 @default.
• W2595114202 cites W1484522078 @default.
• W2595114202 cites W1484869677 @default.
• W2595114202 cites W1485633210 @default.
• W2595114202 cites W1487333175 @default.
• W2595114202 cites W1490129884 @default.
• W2595114202 cites W1495971627 @default.
• W2595114202 cites W1497848374 @default.
• W2595114202 cites W1500590920 @default.
• W2595114202 cites W1501934398 @default.
• W2595114202 cites W1510541640 @default.
• W2595114202 cites W1513966746 @default.
• W2595114202 cites W1521365818 @default.
• W2595114202 cites W1522342234 @default.
• W2595114202 cites W1527808281 @default.
• W2595114202 cites W1528850474 @default.
• W2595114202 cites W1530553910 @default.
• W2595114202 cites W1539744874 @default.
• W2595114202 cites W1555614281 @default.
• W2595114202 cites W1558111554 @default.
• W2595114202 cites W1558236034 @default.
• W2595114202 cites W1559794636 @default.
• W2595114202 cites W156261631 @default.
• W2595114202 cites W1564419782 @default.
• W2595114202 cites W1564897360 @default.
• W2595114202 cites W1565454605 @default.
• W2595114202 cites W1574376938 @default.
• W2595114202 cites W1575387439 @default.
• W2595114202 cites W1575596356 @default.
• W2595114202 cites W1579085990 @default.
• W2595114202 cites W1590496484 @default.
• W2595114202 cites W1597739853 @default.
• W2595114202 cites W1598123022 @default.
• W2595114202 cites W1600519741 @default.
• W2595114202 cites W1603961038 @default.
• W2595114202 cites W1644054796 @default.
• W2595114202 cites W166235067 @default.
• W2595114202 cites W1673192422 @default.
• W2595114202 cites W1673978163 @default.
• W2595114202 cites W1693368075 @default.
• W2595114202 cites W170220620 @default.
• W2595114202 cites W170307911 @default.
• W2595114202 cites W1755788926 @default.
• W2595114202 cites W1756736144 @default.
• W2595114202 cites W1792398202 @default.
• W2595114202 cites W1795768933 @default.
• W2595114202 cites W1813749188 @default.
• W2595114202 cites W1830786326 @default.
• W2595114202 cites W1849085266 @default.
• W2595114202 cites W1851410152 @default.
• W2595114202 cites W1887598125 @default.
• W2595114202 cites W1910898529 @default.
• W2595114202 cites W1912205781 @default.
• W2595114202 cites W1926350247 @default.
• W2595114202 cites W1948604469 @default.
• W2595114202 cites W1963565426 @default.
• W2595114202 cites W1966850751 @default.
• W2595114202 cites W1967896758 @default.
• W2595114202 cites W1969944427 @default.
• W2595114202 cites W1970157989 @default.
• W2595114202 cites W1971480636 @default.
• W2595114202 cites W1975698725 @default.
• W2595114202 cites W1977682381 @default.
• W2595114202 cites W1979573625 @default.
• W2595114202 cites W1979841516 @default.
• W2595114202 cites W1980720386 @default.
• W2595114202 cites W1981609785 @default.
• W2595114202 cites W1981872046 @default.
• W2595114202 cites W1982817127 @default.
• W2595114202 cites W1983520352 @default.
• W2595114202 cites W1983957688 @default.
• W2595114202 cites W1984698342 @default.
• W2595114202 cites W1986534891 @default.
• W2595114202 cites W1994732751 @default.
• W2595114202 cites W1995457297 @default.
• W2595114202 cites W1996545547 @default.
• W2595114202 cites W1998439873 @default.
• W2595114202 cites W1998751494 @default.
• W2595114202 cites W2002645541 @default.
• W2595114202 cites W2003370853 @default.
• W2595114202 cites W2006178360 @default.
• W2595114202 cites W2007057443 @default.
• W2595114202 cites W2008812929 @default.
• W2595114202 cites W2009086487 @default.
• W2595114202 cites W2009774072 @default.
• W2595114202 cites W2010016312 @default.
• W2595114202 cites W2010431242 @default.
• W2595114202 cites W2011891945 @default.
• W2595114202 cites W2016237352 @default.
• W2595114202 cites W2024763827 @default.
• W2595114202 cites W2027600454 @default.

• next