NDLI: A New Kalman-Filter-Based Framework for Fast and Accurate Visual Tracking of Rigid Objects

Content Provider	IEEE Xplore Digital Library
Author	Youngrock Yoon Kosaka, A. Kak, A.C.
Copyright Year	2004
Abstract	The best of Kalman-filter-based frameworks reported in the literature for rigid object tracking work well only if the object motions are smooth (which allows for tight uncertainty bounds to be used for where to look for the object features to be tracked). In this contribution, we present a new Kalman-filter-based framework that carries out fast and accurate rigid object tracking even when the object motions are large and jerky. The new framework has several novel features, the most significant of which is as follows: the traditional backtracking consists of undoing one-at-a-time the model-to-scene matchings as the pose-acceptance criterion is violated. In our new framework, once a violation of the pose-acceptance criterion is detected, we seek the best largest subset of the candidate scene features that fulfill the criterion, and then continue the search until all the model features have been paired up with their scene correspondents (while, of course, allowing for nil-mapping for some of the model features). With the new backtracking framework, our Kalman filter is able to update on a real-time basis the pose of a typical industrial 3-D object moving at the rate of approximately 5 cm/s (typical for automobile assembly lines) using off-the-shelf PC hardware. Pose updating occurs at the rate of 7 frames per second and is immune to large jerks introduced manually as the object is in motion. The objects are tracked with an average translational accuracy of 4.8 mm and the average rotational accuracy of 0.27^deg.
Sponsorship	IEEE Robotics and Automation Society
Starting Page	1238
Ending Page	1251
Page Count	14
File Size	1037797
File Format	PDF
ISSN	15523098
Volume Number	24
Issue Number	5
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-10-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Tracking Layout Laboratories Robotic assembly Robot vision systems Uncertainty Automobiles Hardware Visual servoing Augmented reality visual servoing 3-D pose estimation extended Kalman Filter (EKF) object tracking
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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