Robust planar object tracking using SIFT and GHT with spatial locality

Abstract

Planar object tracking (POT) is crucial in vision-based robotic applications. Despite significant advancements, tracking planar objects under real-world conditions remains a challenge owing to various factors. The method proposed by the authors leverages SIFT features and generalized Hough transform, which is enhanced by spatial locality, to mitigate background clutter and false matching. The experimental results demonstrate that this method significantly outperforms existing approaches, achieving higher precision across various alignment error thresholds. © 2024 The Author(s). Electronics Letters published by John Wiley & Sons Ltd on behalf of The Institution of Engineering and Technology.