I’ve been working on model based 3D tracking on and off for quite a while now.
Year 1 (2005)
This was my main contribution to the field of 3D tracking. To my knowledge, it was the joint first (there was another paper from my lab mate using a different technique) real time tacking system that processed the entire image frame. Both techniques were much more robust than the ones that went before. My one also debuted an early version of the FAST corner detector (I didn’t put that page there).
You can see the tracking works because the model (rendered as purple lines) stays stuck to the image. The tracker operated in real time, well field rate, which was 50Hz fields of 756×288 pixels of analogue video from some sort of Pulnix camera, captured on a BT878 card of some sort on a dual PIII at 850 MHz (running Redhat of some description). It wasn’t mobile (I had two 21″ CRT monitors), so I wasn’t watching the screen as I was capturing video; I found a long spool of thin 75 ohm co-ax which is why it had any kind of mobility. It, somewhat unexpectedly, tracked almost until I put the camera down on the table at the end. It was a bit of an anticlimactic finish, but I didn’t expect it to work quite so well.
Year 14 (2019)
This is the project I’ve been working on recently (landmarkers). It’s nice to see technology move from a proof of concept, academic curiosity to a robust production system usable in the wild by people who aren’t computer vision researchers. Also, I didn’t do the graphics in this one which is why it looks rather cooler than a bunch of purple lines.