Real-time image-based tracking of planes using efficient second-order minimization

  title={Real-time image-based tracking of planes using efficient second-order minimization},
  author={Selim Benhimane and Ezio Malis},
  journal={2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)},
  pages={943-948 vol.1}
The tracking algorithm presented in this paper is based on minimizing the sum-of-squared-difference between a given template and the current image. Theoretically, amongst all standard minimization algorithms, the Newton method has the highest local convergence rate since it is based on a second-order Taylor series of the sum-of-squared-differences. However, the Newton method is time consuming since it needs the computation of the Hessian. In addition, if the Hessian is not positive definite… CONTINUE READING
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