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Abstract: We present a Kalman filter based approach to perform model-based motion estimation and tracking. Unlike previous approaches, the tracking process is not formulated as an SSD minimization problem, but is developed by using texture mapping as the measurement model in an extended Kalman filter. In the process, a super-resolved estimate of the texture present on the object or in the scene is obtained. A key result is the notion of Jacobian images, which can be viewed as a generalization of... (Update)
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BibTeX entry: (Update)
@misc{ dellaert-jacobian,
author = "Frank Dellaert and Sebastian Thrun and Chuck Thorpe",
title = "Jacobian Images of Super-Resolved Texture Maps",
url = "citeseer.ist.psu.edu/article/dellaert98jacobian.html" }
Citations (may not include all citations):502 Performance of optical flow techniques - Barron, Fleet et al. - 1994
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349 Hierarchical model-based motion estimation (context) - Bergen, Anandan et al. - 1992
92 Direct methods for recovering motion (context) - Horn, Weldon - 1988
83 Fundamentals of texture mapping and image warping - Heckbert - 1989
78 Model-based object tracking in monocular image sequences of .. - Koller, Daniilidis et al. - 1993
76 Estimation and Control (context) - Maybeck - 1982
55 Procedural Elements for Computer Graphics (context) - Rogers - 1998
51 motion estimation from a monocular image sequence (context) - Broida, Chandrashekhar et al. - 1990
21 on Pattern Analysis and Machine Intelligence (context) - Azarbayejani, Pentland et al. - 1995
14 Visual servo control of robots using kalman filter estimates.. (context) - Wilson - 1993
7 Model-based car tracking integrated with a road-follower - Dellaert, Pomerleau et al.
3 Super-resolved tracking of planar surface patches (context) - Dellaert, Thorpe et al. - 1998
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