Abstract
Model-based object-tracking can provide mobile robotic systems with real-time 6-dof pose information of a dynamic target object. However, model-based trackers typically require the model of the target to be known a-priori. This paper presents a novel method capable of building an approximate 3D geometric model of a target object in an on-line mode, fast enough for real-time use by a model-based object tracker. The algorithm constructs a 3D tessellated model and uses projective texture mapping to model the target object's surface features.
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Ruiter, H.d., Benhabib, B. (2007). On-line Modeling for Real-Time, Model-Based, 3D Pose Tracking. In: Elleithy, K. (eds) Advances and Innovations in Systems, Computing Sciences and Software Engineering. Springer, Dordrecht. https://doi.org/10.1007/978-1-4020-6264-3_96
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DOI: https://doi.org/10.1007/978-1-4020-6264-3_96
Publisher Name: Springer, Dordrecht
Print ISBN: 978-1-4020-6263-6
Online ISBN: 978-1-4020-6264-3
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