Robust GPU-assisted camera tracking using free-form surface models

Kevin Koeser, Bogumil Bartczak, Reinhard Koch
Institute of Computer Science, Christian-Albrechts-Universitat, Kiel, Hermann-Rodewald-Strasse 3, 24098 Kiel, Germany
Journal of Real-Time Image Processing, Vol. 2, No. 2. (1 November 2007), pp. 133-147


   title={Robust GPU-assisted camera tracking using free-form surface models},

   author={Koeser, K. and Bartczak, B. and Koch, R.},

   journal={Journal of Real-Time Image Processing},








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We propose a marker-less model-based camera tracking approach, which makes use of GPU-assisted analysis-by-synthesis methods on a very wide field of view (e.g. fish-eye) camera. After an initial registration based on a learned database of robust features, the synthesis part of the tracking is performed on graphics hardware, which simulates internal and external parameters of the camera, this way minimizing lens and viewpoint differences between a model view and a real camera image. Based on an automatically reconstructed free-form surface model we analyze the sensitivity of the tracking to the model accuracy, in particular the case when we represent curved surfaces by planar patches. We also examine accuracy and show on synthetic and on real data that the system does not suffer from drift accumulation. The wide field of view of the camera and the subdivision of our reference model into many textured free-form surface patches make the system robust against illumination changes, moving persons and other occlusions within the environment and provide a camera pose estimate in a fixed and known coordinate system.
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