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A Fully Projective Formulation for Lowe's Tracking Algorithm |
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@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. }
}