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This paper presents a novel three-dimensional model-based tracking system which has been incorporated into a visual servoing system. The tracking system combines modern graphical rendering technology with constrained active contour tracking techniques to create wireframe -snakes. It operates in real time at video frame rate (25 Hz) and is based on an internal CAD model of the object to be tracked. This model is rendered using a binary space partition tree to perform hidden line removal and the visible features are identified on-line at each frame and are tracked in the video feed. The tracking system has been extended to incorporate real-time on-line calibration and tracking of internal camera parameters. Results from on-line calibration and visual servoing experiments are presented. 1 Introduction The tracking of rigid three-dimensional objects is useful for numerous applications, including motion analysis, surveillance and robotic control tasks. This paper tackles two p...
Drummond et al. (Fri,) studied this question.