Virtual Object Overlay onto Uncalibrated Camera Image Sequence Enabling Tracking of Natural Features

We discuss new geometric registration overlaying a virtual object onto an uncalibrated camera image sequence enabling extracting and tracking of natural features. To achieve correct registration, we apply a special space defined by two base images and trifocal tensors between base images and uncalibrated camera images. By extracting and tracking natural features, we construct augmented reality without markers whose 3D positions are known. Since we apply points and lines, fewer registration errors occur.