Jason J. Corso
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Direct Methods for Surface Tracking in Stereo
We have developed a set of algorithms to directly track planar surfaces
and parametric surfaces under a calibrated stereo-rig.
A movie demonstrating the planar surface tracking is here. A binary pixel mask is maintained which
determines those pixel belonging to the plane (and with good
texture); it is shown in red in the lower left of the video. The green
vector being rendered is the plane's normal vector. Left is an image
of the system that was built with our plane tracking routines to
localize mobile robots. In the image, we show the real scene, the two
walls that are being tracked (one in blue and one in red), and an
overhead (orthogonal) projection of the reconstructed walls.
Publications
[1]
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W. W. Lau, N. A. Ramey, J. J. Corso, N. Thakor, and G. D. Hager.
Stereo-Based Endoscopic Tracking of Cardiac Surface Deformation.
In Proceedings of Seventh International Conference on Medical
Image Computing and Computer-Assisted Intervention (MICCAI), 2004.
[ bib ]
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[2]
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N. Ramey, J. J. Corso, W. W. Lau, D. Burschka, and G. D. Hager.
Real Time 3D Surface Tracking and Its Applications.
In Proceedings of Workshop on Real-time 3D Sensors and Their
Use (at CVPR 2004), 2004.
[ bib |
.pdf ]
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[3]
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J. J. Corso, N. Ramey, and G. D. Hager.
Stereo-Based Direct Surface Tracking with Deformable Parametric
Models.
Technical report, The Johns Hopkins University, 2003.
CIRL Lab Technical Report 2003-02.
[ bib |
.pdf ]
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[4]
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J. J. Corso, D. Burschka, and G. D. Hager.
Direct Plane Tracking in Stereo Image for Mobile Navigation.
In Proceedings of International Conference on Robotics and
Automation, 2003.
[ bib |
.pdf ]
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