Full-3D Edge Tracking with a Particle Filter | Zendy

Georg Klein | Zendy; David W. Murray | Zendy

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Full-3D Edge Tracking with a Particle Filter

Author(s) -

Georg Klein,

David W. Murray

Publication year - 2006

Publication title -

citeseer x (the pennsylvania state university)

Language(s) - English

Resource type - Conference proceedings

DOI - 10.5244/c.20.114

Subject(s) - particle filter , computer science , tracking (education) , graphics , workstation , computer graphics (images) , computer vision , enhanced data rates for gsm evolution , tracking system , graphics hardware , artificial intelligence , computer graphics , filter (signal processing) , exploit , line (geometry) , psychology , pedagogy , computer security , geometry , mathematics , operating system

This paper demonstrates a real-time, full-3D edge tracker based on a particle filter. In contrast to previous methods this system is capable of tracking complex self-occluding three-dimensional structures. The system exploits graphics hardware in a novel manner, allowing it not only to perform hidden line removal for each particle but also to evaluate pose likelihoods directly on the graphics card. This approach allows video-rate filtering with hundreds of particles on a standard workstation.

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