A new framework for tracking by maintaining multiple global hypotheses for augmented reality

Kenichi Hayashi, Hirokazu Kato, Shogo Nishida

研究成果: Conference contribution

抄録

Several tracking techniques for augmented reality have been proposed. In feature point tracking, a pose is computed by minimizing the error between the observed 2D feature points and the back-projected feature points from the 3D scene model. This minimization problem is usually solved by nonlinear optimization. The main advantage of this approach is its accuracy. However, it is difficult to compute the correct pose unless an appropriate initial value is used. In addition, when an observation contains some errors, this approach does not guarantee a correct pose even if it converges to the global minimum. Therefore, once an incorrect pose is computed in a frame, either the tracking in the next frame may fail or the result will deviate from the correct pose. In this paper, we propose a new tracking framework for augmented reality. The proposed method tracks features as multiple local hypotheses based on not just one pose but multiple poses that are computed from pose estimation in the previous frame. Since multiple poses are maintained as global hypotheses, as long as the correct pose is contained in the hypotheses, tracking can be continued even in difficult situations such as a simple iterative scene with high-speed movements.

本文言語English
ホスト出版物のタイトルProceedings 17th International Conference on Artificial Reality and Telexistence, ICAT 2007
ページ15-22
ページ数8
DOI
出版ステータスPublished - 2007
外部発表はい
イベント17th International Conference on Artificial Reality and Telexistence, ICAT 2007 - Esbjerg, Jylland, Denmark
継続期間: 2007 11 282007 11 30

出版物シリーズ

名前Proceedings 17th International Conference on Artificial Reality and Telexistence, ICAT 2007

Other

Other17th International Conference on Artificial Reality and Telexistence, ICAT 2007
国/地域Denmark
CityEsbjerg, Jylland
Period07/11/2807/11/30

ASJC Scopus subject areas

  • 人工知能
  • 人間とコンピュータの相互作用
  • 制御およびシステム工学

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