RAPID (Real-time Attitude and Position Determination) is a real-time model-based tracking algorithm. By being such, we assume that the model is a known & a predefined 3D object.
Abstract
RAPID (Real-time Attitude and Position Determination) is a real-time model-based tracking algorithm. By being such, we assume that the model is a known & a predefined 3D object. In addition, the object executing arbitrary motion, and viewed by a single video-camera. The particular model features that we use in in order to perform tracking are points located on high contrast edges.
Simplified Algorithm
- Initializing
-Marking CP’s on current frame
-Receiving next frame after motion
- Scanning
-Searching for the image edge perpendicular to each CP
-When encountering, mark estimated CP’s
- Estimating
-Measure the distance between the real object pose to the estimated one
-Estimate a pose change of q, assign it on the current edge
-Measure the new distance – l′
1
Demo
Original Frame Original Frame, with Prev. frame CP’s
Original Frame, with Prev. frame CP’s, after edge detection Final result, the object is being tracked
