THIS PAGE INCORPORATES CASCADING STYLE SHEET! TO VIEW PAGE CORRECTLY PLEASE UPDATE TO A CSS COMPLIANT BROWSER
A Fully Projective Formulation for Lowe's Tracking Algorithm
UR > CS > Research > Vision > Publications > A Fully Projective Formulation for Lowe's Tracking Algorithm
pdf 1.11 MB
ps 4.83 MB
@TechReport{Araujo:TR96,
  author = 	 {Araujo Helder and Rodrigo L. Carceroni and Christopher M. Brown},
  title = 	 {A Fully Projective Formulation for Lowe's Tracking Algorithm},
  institution =  {Comp Sci Dept University of Rochester},
  year = 	 {1996},
  number = 	 {641},
  address = 	 {Rochester},
  month = 	 {November},
  abstract =    {
David Lowe's influential and classic algorithm for tracking objects with known 
geometry is formulated with certain simplifying assumptions. A version 
implemented by Ishii et al. makes different simplifying assumptions. We formulate
a full projective solution and apply the same algorithm (Newton's method). We 
report results of extensive testing of these three algorithms. We compute two 
image--space and six pose--space error metrics to quantify the effects of object 
pose, errors in initial solutions, and image noise levels. We consider several 
scenaria, from relatively unconstrained conditions to those that mirror 
real--world and real--time constraints. The conclusion is that the full projective
formulation makes the algorithm orders of magnitude more accurate and gives it 
super--exponential convergence properties with arguably better computation--time 
properties.   }
}