Unified Direct Visual Tracking of Rigid and Deformable Surfaces Under Generic Illumination Changes in Grayscale and Color Images
The fundamental task of visual tracking is considered in this work as an incremental direct image registration problem. Direct methods refer to those that exploit the pixel intensities without resorting to image features. We propose new transformation models and optimization methods for directly and robustly registering images (including color ones) of rigid and deformable objects, all in a unified manner. We also show that widely adopted models are in fact particular cases of the proposed ones. Indeed, the proposed general models combine various classes of image warps and ensure robustness to generic lighting changes. Finally, the proposed optimization method together with the exploitation of all possible image information allow the algorithm to achieve high levels of accuracy. Extensive experiments are reported to demonstrate that visual tracking can indeed be highly accurate and robust despite deforming objects and severe illumination changes.
visual tracking image registration direct methods lighting changes nonlinear optimization nonrigid objects robust techniques robotics