Robust Planar Target Tracking and Pose Estimation from a Single ...

Figure 5: Selected frames of tracking sequence ’Greece’. Detected and classified Maximally Stable Extremal Region (MSER) is highlighted
with yellow boundary and estimated pose is illustrated with OpenGL teapot. Please note that only a single region is used to obtain results
and that pose is accurately estimated despite clutter, lighting changes, several almost similar confusable regions and significant scale and
orientation changes.
our method is able to robustly detect and estimate the pose from
objects consisting of only a single closed contour. Given the current
frame, we extract Maximally Stable Extremal Regions which
provide robust and closed contours in an efficient manner. The extracted
MSERs are warped in a normalized frame and then distance
transformed, before they are classified by a random fern, which was
trained on synthetic views of the provided template image. Matched
contours are then used to estimate a perspective frame which allows
estimating the 3D pose even from a single contour. The experiments
showed that our method outperforms state-of-the-art methods for
tracking planar weakly textured targets.
Acknowledgements. We acknowledge financial support
of the Austrian Science Fund (FWF) from project ’Fibermorph’
(P22261-N22) and the Research Studios Austria Project
µSTRUCSCOP (818651).
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