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Handling Occlusions for Robust Augmented Reality Systems


In Augmented Reality applications, the human perception is enhanced with computer-generated graphics. These graphics must be exactly registered to real objects in the scene and this requires an effective Augmented Reality system to track the user's viewpoint. In this paper, a robust tracking algorithm based on coded fiducials is presented. Square targets are identified and pose parameters are computed using a hybrid approach based on a direct method combined with the Kalman filter. An important factor for providing a robust Augmented Reality system is the correct handling of targets occlusions by real scene elements. To overcome tracking failure due to occlusions, we extend our method using an optical flow approach to track visible points and maintain virtual graphics overlaying when targets are not identified. Our proposed real-time algorithm is tested with different camera viewpoints under various image conditions and shows to be accurate and robust.

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Correspondence to Madjid Maidi.

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Open Access This article is distributed under the terms of the Creative Commons Attribution 2.0 International License (, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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Maidi, M., Ababsa, F. & Mallem, M. Handling Occlusions for Robust Augmented Reality Systems. J Image Video Proc 2010, 146123 (2010).

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  • Kalman Filter
  • Optical Flow
  • Augmented Reality
  • Real Scene
  • Robust Tracking