Adaptive geometric templates for feature matching

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Scopus citations


Robust motion recovery in tracking multiple targets using image features is affected by difficulties in obtaining good correspondences over long sequences. Difficulties are introduced by occlusions, scale changes, as well as disappearance of features with the rotation of targets. In this work, we describe an adaptive geometric template-based method for robust motion recovery from features. A geometric template consists of nodes containing salient features (e.g., corner features). The spatial configuration of the features is modeled using a spanning tree. This paper makes the following two contributions: (i) an adaptive geometric template to model the varying number of features on a target, and (ii) an iterative data association method for the features based on the uncertainties in the estimated template structure in conjunction with its individual features. We present experimental results for tracking multiple targets over long outdoor image sequences with multiple persistent occlusions. A comparison of the results of the data association method with a standard Mahalanobis distance gating applied to individual features is also presented.

Original languageEnglish (US)
Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Number of pages5
StatePublished - Dec 27 2006
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: May 15 2006May 19 2006

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729


Other2006 IEEE International Conference on Robotics and Automation, ICRA 2006
CountryUnited States
CityOrlando, FL


  • Adaptive geometric templates, data association
  • Feature tracking
  • Kalman filtering
  • Variable dimension

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