3D tracking using rectangular regions in structured scenes

This paper presents a practical 3D tracking method using rectangular regions in structured scenes. The dominant orthogonal vanishing points and some projections of rectangular regions (PRR) are detected from the first frame of a video sequence. Then the focal length of the camera and the height/width ratios for each rectangle are determined. The full camera position and orientation are tracked using the intensity differences among the frame sequences. The advantage of the method is that it can obtain all initial tracking parameters only from the first frame while previous methods may require the first 100 frames or more for initialization, which makes the proposed method very suitable for real-time applications.