Jacobian images of super-resolved texture maps for model-based motion estimation and tracking

  title={Jacobian images of super-resolved texture maps for model-based motion estimation and tracking},
  author={Frank Dellaert and Sebastian Thrun and Charles E. Thorpe},
We present a Kalman filter based approach to perform model-based motion estimation and tracking. Unlike previous approaches, the tracking process is not formulated as an SSD minimization problem, but is developed by using texture mapping as the measurement model in an extended Kalman filter. During tracking, a super-resolved estimate of the texture present on the object or in the scene is obtained. A key result is the notion of Jacobian images, which can be viewed as a generalization of… CONTINUE READING
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