3D Tracking Using 2D-3D Line Segment Correspondence and 2D Point Motion
説明
In this paper, we propose a 3D tracking method which integrates two kinds of 2D feature tracking techniques. Our tracker searches 2D-3D correspondences used to estimate camera pose on the next frame from detected straight edges and projected 3D-CAD model on the current frame, and tracks corresponding edges on the consecutive frames. By tracking those edges, our tracker can keep correct correspondences even when large camera motion occurs. Furthermore, when the estimated pose seems incorrect, our tracker brings back to the correspondences of the previous frame and proceeds tracking of corresponding edges. Then, on the next frame, our tracker estimates the pose from those correspondences and can recover to the correct pose.