Adaptive tracking and model registration across distinct aspects

A model registration system capable of tracking an object through distinct aspects in real-time is presented. The system integrates tracking, pose determination, and aspect graph indexing. The tracking combines steerable filters with normalized cross-correlation, compensates for rotation in 2D and is adaptive. Robust statistical methods are used in the pose estimation to detect and remove mismatches. The aspect graph is used to determine when features will disappear or become difficult to trade and to predict when and where new features will become trackable. The overall system is stable and is amenable to real-time performance.