Edge Tracking of Textured Objects with a Recursive Particle Filter

This paper proposes a new approach of model-based 3D~object tracking in real-time. The developed algorithm uses edges as features to track, which are easy and robust to detect. It exploits the functionality of modern highly parallel graphics boards by performing hidden face removal, image processing, texturing and particle filtering. Using a standard 3D model the tracker neither requires memory and time consuming training nor other pre-calculations. In contrast to other approaches this tracker also works on objects where geometry edges are barely visible because of low contrast.