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This paper addresses robust feature tracking. We extend the well-known Shi-Tomasi-Kanade tracker by introducing an automatic scheme for rejecting spurious features. We employ a simple and efficient outlier rejection rule, called X84, and prove that its theoretical assumptions are satisfied in the feature tracking scenario. Experiments with real and(More)
We describe RICP, a robust algorithm for registering and ®nding correspondences in sets of 3-D points with sig-ni®cant percentages of missing data, and therefore useful for both motion analysis and reverse engineering. RICP exploits LMedS robust estimation to withstand the e€ect of outliers. Our extensive experimental comparison of RICP with ICP shows(More)
We analyse experimentally some subpixel-accuracy disparity and uncertainty estimators based on the SSD method, frequently used in stereo and motion analysis. We identify key inadequacies, and introduce new, practical algorithms. We discuss results and performance tests, and demonstrate the eeective use of the new estimators in a complete , working system(More)
This paper addresses robust feature tracking. The aim is to track point features in a sequence of images and to identify unreliable features resulting from occlusions, perspective distortions and strong intensity changes. We extend the well-known Shi–Tomasi–Kanade tracker by introducing an automatic scheme for rejecting spurious features. We employ a simple(More)