Integration of Euclidean constraints in template based visual tracking of piecewise-planar scenes

This papers deals with the problem of tracking a piecewise-planar scene in a video sequence and, at the same time, with the problem of estimating accurately the 3D displacement of the camera for robotic applications. A new approach to the problem is proposed and two noticeable contributions are given. Firstly, the explicit dependency between the 2D image transformation parameters (a homography for each plane) and the 3D camera displacement parameters is computed. Secondly, a second-order optimization algorithm is proposed. The second-oder optimization considerably increases the convergence domain and the convergence rate of standard first-order optimization algorithms while having an almost equivalent computational complexity.