On-line Modeling for Real-Time, Model-Based, 3D Pose Tracking

Abstract

Model-based object-tracking can provide mobile robotic systems with real-time 6-dof pose information of a dynamic target object. However, model-based trackers typically require the model of the target to be known a-priori. This paper presents a novel method capable of building an approximate 3D geometric model of a target object in an on-line mode, fast enough for real-time use by a model-based object tracker. The algorithm constructs a 3D tessellated model and uses projective texture mapping to model the target object's surface features.