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Monocular Model-Based 3D Tracking of Rigid Objects: A Survey
Foundations and Trends® in
Computer Graphics and Vision
Volume 1 Issue 1
DOI: 10.1561/0600000001
Monocular Model-Based 3D Tracking of Rigid Objects: A Survey
Vincent Lepetit
Computer Vision Laboratory, CH-1015 Lausanne, Switzerland,
Vincent.Lepetit@epfl.ch
Pascal Fua
Computer Vision Laboratory, CH-1015 Lausanne, Switzerland,
Pascal.Fua@epfl.ch
Abstract
Many applications require tracking of complex 3D objects. These include visual servoing of robotic arms on specific target
objects, Augmented Reality systems that require real-time registration of the object to be augmented, and head tracking systems
that sophisticated interfaces can use. Computer Vision offers solutions that are cheap, practical and non-invasive.
This survey reviews the different techniques and approaches that have been developed by industry and research. First, important
mathematical tools are introduced: Camera representation, robust estimation and uncertainty estimation. Then a comprehensive
study is given of the numerous approaches developed by the Augmented Reality and Robotics communities, beginning with those
that are based on point or planar fiducial marks and moving on to those that avoid the need to engineer the environment by
relying on natural features such as edges, texture or interest. Recent advances that avoid manual initialization and failures
due to fast motion are also presented. The survery concludes with the different possible choices that should be made when
implementing a 3D tracking system and a discussion of the future of vision-based 3D tracking.
Because it encompasses many computer vision techniques from low-level vision to 3D geometry and includes a comprehensive study
of the massive literature on the subject, this survey should be the handbook of the student, the researcher, or the engineer
who wants to implement a 3D tracking system.
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