Model-based 3-D object tracking using projective invariance

Sung Woo Lee, Bum Jae You, Gregory D. Hager

Research output: Contribution to journalConference articlepeer-review

7 Scopus citations


This paper describes a method of three-dimensional object tracking by projective invariance. Usually, projective invariance has been used for object recognition and its property discards the need for cumbersome camera calibration to obtain metric information. We focus on the fact the projective invariance is not only regarded as recognition cues but also able to verify the status of a 3-D object for visual tracking. With projective invariance relevant to points, we develop a fast and reliable visual tracking strategy by combining a recognition module using projective invariance, window-based corner trackers for object's corner tracking and a visibility checking module. The proposed method is experimented in single IBM-PC platform successfully.

Original languageEnglish (US)
Pages (from-to)1589-1594
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - Jan 1 1999
Externally publishedYes
EventProceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA
Duration: May 10 1999May 15 1999

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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