Vision-based tracking systems

Similar to other vision-based tracking systems [34], our system rehes on the visual tracking of a pattern composed of a set of features arranged in a known geometry. An example of a pattern would be a checkerboard with a known number of rows and columns, where the intersection of black and white squares serves as a feature. The particularity of our approach is that we do not require the detection of the whole pattern. Instead, we use a Kalman-filter based approach [38] to simultaneously perform... 

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