Robust fitting of 3D CAD models to video streams

  • Christophe Meilhac
  • Chahab Nastar
Session 7: Motion & Stereo
Part of the Lecture Notes in Computer Science book series (LNCS, volume 1310)


We present a robust and accurate semi-automatic algorithm for registering and tracking a 3D geometric model in a 3D video stream. The algorithm is a generalization of the “Iterative Closest Point” technique. Each iteration is composed of two steps: computation of camera, parameters, and 3D/2D vertex matching. This last step is performed by polygon fitting in an edge image. To account for false matches, we use a robust M-estimation both for camera parameter estimation and 2D feature extraction. Experimental results show that accurate registration can be obtained even with very noisy outdoor images and incomplete data. Error analysis proves that. the accuracy is obtained at the pixel level.


Video Stream Iterative Close Point Camera Parameter Iterative Close Point Matching Error 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 1997

Authors and Affiliations

  • Christophe Meilhac
    • 1
  • Chahab Nastar
    • 1
  1. 1.INRIA B.P. 105Le Chesnay CedexFrance

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