ABSTRACT
Abstract. We focus in this paper on the problem of adding computer generated objects to video sequences. A robust, two-stage statistical method is used for computing the pose from model-image correspondences of tracked curves. This method is able to give a correct estimate of the pose even when tracking errors occur. However, if we want to add virtual objects into a scene area which does not contain (or contains few) model features, the reprojection error is likely to be large. In order to improve the accuracy of the viewpoint, we use 2D keypoints that can be matched easily in two consecutive images. Since the relationship between two matched points is a function of the camera motion, the viewpoint can be improved by min imizing a cost function which encompasses the reprojection error as well as the matching error between two frames. The reliability of the system is demonstrated on an encrustation of a virtual car in a sequence of the Stanislas square.
