caa a22 4500 469036192 CHVBK 20180323132756.0 cr unu---uuuuu 170328e19920801xx s 000 0 eng 10.1007/BF00127170 doi (NATIONALLICENCE)springer-10.1007/BF00127170 Lowe David Computer Science Department, University of British Columbia, V6T 1W5, Vancouver, B.C., Canada aut Robust model-based motion tracking through the integration of search and estimation [Elektronische Daten] [David Lowe] A computer vision system has been developed for real-time motion tracking of 3-D objects, including those with variable internal parameters. This system provides for the integrated treatment of matching and measurement errors that arise during motion tracking. These two sources of error have very different distributions and are best handled by separate computational mechanisms. These errors can be treated in an integrated way by using the computation of variance in predicted feature measurements to determine the probability of correctness for each potential matching feature. In return, a best-first search procedure uses these probabilities to find consistent sets of matches, which eliminates the need to treat outliers during the analysis of measurement errors. The most reliable initial matches are used to reduce the parameter variance on further iterations, minimizing the amount of search required for matching more ambiguous features. These methods allow for much larger frame-to-frame motions than most previous approaches. The resulting system can robustly track models with many degrees of freedom while running on relatively inexpensive hardware. These same techniques can be used to speed verification during model-based recognition. Kluwer Academic Publishers, 1992 International Journal of Computer Vision Kluwer Academic Publishers 8/2(1992-08-01), 113-122 0920-5691 8:2<113 1992 8 11263 https://doi.org/10.1007/BF00127170 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/BF00127170 text/html Onlinezugriff via DOI NATIONALLICENCE 100 1- Lowe David Computer Science Department, University of British Columbia, V6T 1W5, Vancouver, B.C., Canada aut NATIONALLICENCE 773 0- International Journal of Computer Vision Kluwer Academic Publishers 8/2(1992-08-01), 113-122 0920-5691 8:2<113 1992 8 11263 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer