Pacific-Rim Symposium on Image and Video Technology

Image and Video Technology pp 447-460 | Cite as

6-DOF Direct Homography Tracking with Extended Kalman Filter

Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9431)


This paper considers a robust direct homography tracking that takes advantage of the known intrinsic parameters of the camera to estimate its pose in real scale, to speed-up the convergence, and to drastically increase the robustness of the tracking. Indeed, our new formulation for direct homography tracking allows us to explicitly solve a 6 Degrees Of Freedom (DOF) rigid transformation between the plane and the camera. Furthermore, it simplifies the integration of the Extended Kalman Filter (EKF) which allows us to increase the computational speed and deal with large motions. For the sake of robustness, our approach also includes a pyramidal optimization using an Enhanced Correlation Coefficient (ECC) based objective function. The experiments show the high efficiency of our approach against state of the art methods and under challenging conditions.


ECC Homography tracking Pose estimation EKF 



This work was supported by the National Research Foundation of Korea (NRF) grant funded by the Korea government (MSIP) (No. 2010-0028680).


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  1. 1.Robotics and Computer Vision LaboratoryKAISTDaejeonSouth Korea

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