PASCAL - Pattern Analysis, Statistical Modelling and Computational Learning

Temporal Accumulation of Oriented Visual Features
Nicolas Pugeault and Norbert Krueger
Journal of Visual Communication and Image Representation Volume 22, Number 2, pp. 153-163, 2011. ISSN 1047-3203


In this paper we present a framework for accumulating on-line a model of a moving object (e.g., when manipulated by a robot). The proposed scheme is based on Bayesian filtering of local features, filtering jointly position, orientation and appearance information. The work presented here is novel in two aspects: first, we use an estimation mechanism that updates iteratively not only geometrical information, but also appearance information. Second, we propose a probabilistic version of the classical n-scan criterion that allows us to select which features are preserved and which are discarded, while making use of the available uncertainty model. The accumulated representations have been used in three different contexts: pose estimation, robotic grasping, and driver assistance scenario.

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EPrint Type:Article
Project Keyword:Project Keyword UNSPECIFIED
Subjects:Machine Vision
ID Code:7102
Deposited By:Nicolas Pugeault
Deposited On:07 March 2011