I built with Pascal Fua a model-based 3D tracking during my stay at LIG. It allows us to follow in realtime
and in the 3 dimensions a convex object like a cube, an hexagone or a checkers board.
What I need ?
    - a camera.
    - a target.
    - the wireframe 3D model of the target.

(and a computer as powerfull as possible)

The whole program was written in C++, using the SGI's CC compiler with maximum optimization.

See the Latest Results

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First Step :
 

I have coded the core of the tracking algorithm and tested it on images sequences.
 

- Example 1 : Tracking a cube :

      

 

- Example 2 : Tracking a checkers board :

      

 

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Second Step :
 

After the validation of the algorithm, I have programmed the realtime 3D tracking method. It works on a SGI - Octane at ~22 Hz.
 

- Example 1 : Tracking a real checkers board :

      

 

- Example 2 : Tracking an hexagone :

    
 

 

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Third Step :
 

I am now able with this algoritm to do Augmented Reality. I will use the target position for registration. It is also possible to move the camera around the scene.
 

All the demos are real-time.
 

- Example 1 : a realtime checkers game between a real and a virtual human :
 

  Using the Lig's VHD soft ware.
 
 

Damier.mpg (2.2 Mb).

- Example 2 : the Star Wars Light Saber :
 

    

    
 
 

Sabre.mpg (2.9 Mb).

Sabre2.mpg (3.5 Mb).       (much more dynamic)
 

- Example 3 : texturing a box | Adding a virtual rolling ball
 

    

    

Thanks to Paolo for his help on dynamic simulation.

 
Ball.mpg (2.5 Mb).

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Planned Work :

- Multiple objects tracking.
- Object position recovery if lost.
- Extension to non-rigid objects.
- Other funny demos.

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Related Publication :
 

Rémy Torre, Pascal Fua et al., Interaction Between Real and Virtual Humans: Playing
Checkers, Proc. Eurographics Workshop On Virtual Environments 2000  (ps.gz format)
 

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