Full-3D Edge Tracking with a Particle Filter
Georg Klein, David W. Murray · 2006
This paper demonstrates a real-time, full-3D edge tracker based on a particle filter. In contrast to previous methods this system is capable of tracking complex self-occluding three-dimensional structures. The system exploits graphics hardware in a novel manner, allowing it not only to perform hidden line removal for each particle but also to evaluate pose likelihoods directly on the graphics card. This approach allows video-rate filtering with hundreds of particles on a standard workstation. 1