We present a complete real-time model-based tracking system for piecewise-planar objects which combines template-based and feature-based approaches. Our contributions are an extension to the ESM algorithm used for template-based tracking and the formulation of a feature-based tracking approach, which is specifically tailored for use in a real-time setting. In order to cope with highly dynamic scenarios, such as illumination changes, partial occlusions and fast object movement, the system adaptively switches between template-based tracking, feature-based tracking and a global initialization phase. Our tracking system achieves real-time performance by applying a coarse-to-fine optimization approach and includes means to detect a loss of track.     «

We present a complete real-time model-based tracking system for piecewise-planar objects which combines template-based and feature-based approaches. Our contributions are an extension to the ESM algorithm used for template-based tracking and the formulation of a feature-based tracking approach, which is specifically tailored for use in a real-time setting. In order to cope with highly dynamic scenarios, such as illumination changes, partial occlusions and fast object movement, the system adaptiv...     »