Sýkora, DanielSedlácek, DavidRiege, KaiRobert van Liere and Betty Mohler2014-01-272014-01-272008978-3-905674-06-41727-530Xhttps://doi.org/10.2312/EGVE/EGVE08/009-016In this paper, we introduce a light-weight and robust tracking technique based on color balls. The algorithm builds on a variant of randomized Hough transform and is optimized for a use in real-time applications like on low-cost Augmented Reality (AR) systems. With just one conventional color camera our approach provides the ability to determine the 3D position of several color balls at interactive frame rates on a common PC workstation. It is fast enough to be easily combined with another real-time tracking engine. In contrast to popular tracking techniques based on recognition of planar fiducial markers it offers robustness to partial occlusion, which eases handling and manipulation. Furthermore, while using balls as markers a proper haptic feedback and visual metaphor is provided. The exemplary use of our technique in the context of two AR applications indicates the effectiveness of the proposed approach.Categories and Subject Descriptors (according to ACM CCS): I.4.6 [Image Processing and Computer Vision]: Segmentation (Edge and feature detection) I.4.7 [Image Processing and Computer Vision]: Feature Measurement (Size and shape) I.4.8 [Image Processing and Computer Vision]: Scene Analysis (Tracking) I.5.5 [Pattern Recognition]: Implementation (Interactive systems)