Publication

Iterative rigid body transformation estimation for visual 3-D object tracking

Aude Billard, Micha Hersch
2008
Conference Papers

Abstract

We present a novel yet simple 3D stereo vision tracking algorithm which computes the position and orientation of an object from the location of markers attached to the object. The novelty of this algorithm is that it does not assume that the markers are tracked synchronously. This provides a higher robustness to the noise in the data, missing points and outliers. The principle of the algorithm is to perform a simple gradient descent on the rigid body transformation describing the object position and orientation. This is proved to converge to the correct solution and is illustrated in a simple experimental setup involving two USB cameras.

Official source

https://infoscience.epfl.ch/entities/publication/b234bbbc-48ba-4eac-b881-0050d5609ac7

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Aude Billard, Micha Hersch
2008
Conference Papers

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/b234bbbc-48ba-4eac-b881-0050d5609ac7

About this result

Related concepts (23)

USB

Universal Serial Bus (USB) is an industry standard that specifies the physical interfaces and protocols for connecting, data transferring and powering of hosts, such as personal computers, peripherals, e.g. keyboards and mobile devices, and intermediate hubs. USB was designed to standardize the connection of peripherals to computers, replacing various interfaces such as serial ports, parallel ports, game ports, and ADB ports. It has become commonplace on a wide range of devices, such as keyboards, mice, cameras, printers, scanners, flash drives, smartphones, game consoles, and power banks.

Missing data

In statistics, missing data, or missing values, occur when no data value is stored for the variable in an observation. Missing data are a common occurrence and can have a significant effect on the conclusions that can be drawn from the data. Missing data can occur because of nonresponse: no information is provided for one or more items or for a whole unit ("subject"). Some items are more likely to generate a nonresponse than others: for example items about private subjects such as income.

USB mass storage device class

The USB mass storage device class (also known as USB MSC or UMS) is a set of computing communications protocols, specifically a USB Device Class, defined by the USB Implementers Forum that makes a USB device accessible to a host computing device and enables file transfers between the host and the USB device. To a host, the USB device acts as an external hard drive; the protocol set interfaces with a number of storage devices.

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