Image Driven Generation of Pose Hypotheses for 3D Model-based Tracking

Tracking an object's 3D position and orientation from a color image can been accomplished with particle filters if its color and shape properties are known. Unfortunately, initialization in particle filters is often manual or random, thus rendering the tracking recovery process slow or no longer autonomous. A method that uses image data to generate likely pose hypotheses for known objects is proposed. These generated pose hypotheses are then used to guide visual attention and computer resources in a “top-down” tracking system such as a particle filter: speeding up the tracking process and making it more robust to unpredictable movement.