3D Object Tracking Registration Based on Improved RBOT Method

Authors

Jiarui Zhou, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
Haihua Cui, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
Pengcheng Li, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
Shihao Gu, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
Huipu Hao, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
Xifu Zhao, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
Anan Zhao, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
Tao Jiang, College of Mechanical and Electrical Engineering, Suqian University, Suqian 223800, China

Abstract

Abstract: To address the limitations of region-based object tracking (RBOT) in handling isotropic objects and scenarios with similar foreground-background colors, an improved method integrating edge features is proposed. The approach employs edge detection to extract object contours and designs a region segmentation strategy incorporated into an energy function framework to optimize internal line and edge consistency, thereby enhancing adaptability in dynamic environments and improving pose estimation accuracy. Validation through augmented reality assembly experiments on an aero-engine demonstrates that the proposed method effectively reduces rotational and translational errors, achieving initialization deviations of less than 1.5° and 0.5%, respectively. For static video sequences, inter-frame pose jitter remains below 0.3° and displacement jitter below 0.1%, meeting the precision requirements of virtual-real registration for assembly guidance.

Recommended Citation

Zhou, Jiarui; Cui, Haihua; Li, Pengcheng; Gu, Shihao; Hao, Huipu; Zhao, Xifu; Zhao, Anan; and Jiang, Tao (2026) "3D Object Tracking Registration Based on Improved RBOT Method," Journal of System Simulation: Vol. 38: Iss. 1, Article 2.
DOI: 10.16182/j.issn1004731x.joss.25-0214
Available at: https://dc-china-simulation.researchcommons.org/journal/vol38/iss1/2

First Page

14

Last Page

28

CLC

TP391.9

Recommended Citation

Zhou Jiarui, Cui Haihua, Li Pengcheng, et al. 3D Object Tracking Registration Based on Improved RBOT Method[J]. Journal of System Simulation, 2026, 38(1): 14-28.

DOI

10.16182/j.issn1004731x.joss.25-0214