Robust model-based tracking with multiple cameras for spatial applications

This paper proposes a real-time, robust and efficient 3D model-based tracking algorithm for visual servoing. A virtual visual servoing approach is used for 3D tracking. This method is similar to more classical non-linear pose computation techniques. Robustness is obtained by integrating an M-estimator into the virtual visual control law via an iteratively reweighted least squares implementation. The presented approach is also extended to the use of multiple cameras. Results show the method to be robust to occlusion, changes in illumination and miss-tracking.