This survey reviews the different techniques and approaches that have been developed by industry and research. First, important mathematical tools are introduced: Camera representation, robust estimation and uncertainty estimation. Then a comprehensive study is given of the numerous approaches developed by the Augmented Reality and Robotics communities, beginning with those that are based on point or planar fiducial marks and moving on to those that avoid the need to engineer the environment by relying on natural features such as edges, texture or interest. Recent advances that avoid manual initialization and failures due to fast motion are also presented. The survey concludes with the different possible choices that should be made when implementing a 3D tracking system and a discussion of the future of vision-based 3D tracking.

Because it encompasses many computer vision techniques from low-level vision to 3D geometry and includes a comprehensive study of the massive literature on the subject, this survey should be the handbook of the student, the researcher, or the engineer who wants to implement a 3D tracking system.

Published by Now Publishers and marketed by World Scientific

Contents:

• Introduction
• Mathematical Tools
• Fiducial-Based Tracking
• Natural Features, Model-Based Tracking
• Tracking by Detection
• Conclusion
• References