Abstract
In augmented reality systems, the user looks at real objects, through a camera or a see-through HMD, and is provided with an enhanced view. A CAD model of the object, once it is properly registered, is superimposed on top of the direct view. Hidden internal parts can be shown, certain components can be highlighted or procedures can be demonstrated. Real time registration of a 3D model with its corresponding view in the image is thus a key feature of such systems. The goal of this paper is to explore the coupling of electro-magnetic tracking and contour-based image processing to robustly track 3D objects in real time. The method keeps the robustness of electro-magnetic tracking, adds precision using video information, without adding landmarks to the scene. First we explain how to determine the different coordinate systems, using contour information to refine the camera pose estimate. Second we investigate the use of real time pose estimation techniques, based on point information or on line contours.
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