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1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE 2 ASTRIUM

Abstract : This paper focuses on the issue of estimating the complete 3D pose of the camera with respect to a potentially textureless object, through model-based tracking. We propose to robustly combine complementary geometrical and color edge- based features in the minimization process, and to integrate a multiple-hypotheses framework in the geometrical edge-based registration phase. In order to deal with complex 3D models, our method takes advantage of GPU acceleration. Promising results, outperforming classical state-of-art approaches, have been obtained for space robotics applications on various real and synthetic image sequences and using satellite mock-ups as targets.

Author: Antoine Petit - Eric Marchand - Keyvan Kanani -

Source: https://hal.archives-ouvertes.fr/


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