Using two-dimensional models to interact with the three-dimensional world
This paper describes a method for tracking a moving object in an image, when the camera motion is unknown and other moving objects may be in the image. The method is based on matching two-dimensional geometric structures between successive frames of an image sequence. A bitmap representing the object being tracked at one time frame is matched to features extracted from the image at the next time frame. The transformation mapping the object to the image specifies a new model of the object for the subsequent frame. The approach makes no use of optical flow estimates nor of three-dimensional information. We present examples of the method for tracking moving objects in video sequences and for visual guidance of a mobile robot.
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