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Lines and ellipses are tracked using edge-projected integration of cues (EPIC). EPIC uses cues in regions delineated by edges that are defined by observed edgels and a priori knowledge from a wire-frame model of the object. The edgels are then used for a robust fit of the feature geometry, but at times this results in multiple feature candidates. A final validation step uses the model topology to select the most likely feature candidates. EPIC is suited for real-time operation. Experiments demonstrate operation at frame rate. Navigating a walking robot through an industrial environment shows the robustness to varying lighting conditions. Tracking objects over varying backgrounds indicates robustness to clutter. <\/jats:p>","DOI":"10.1177\/02783640122067534","type":"journal-article","created":{"date-parts":[[2003,7,19]],"date-time":"2003-07-19T01:53:44Z","timestamp":1058579624000},"page":"533-552","source":"Crossref","is-referenced-by-count":14,"title":["Edge-Projected Integration of Image and Model Cues for Robust Model-Based Object Tracking"],"prefix":"10.1177","volume":"20","author":[{"given":"M.","family":"Vincze","sequence":"first","affiliation":[{"name":"Institute of Flexible Automation, Vienna University of Technology, Vienna, Austria"}]},{"given":"M.","family":"Ayromlou","sequence":"additional","affiliation":[]},{"given":"W.","family":"Ponweiser","sequence":"additional","affiliation":[]},{"given":"M.","family":"Zillich","sequence":"additional","affiliation":[{"name":"Institute of Flexible Automation, Vienna University of Technology, Vienna, Austria"}]}],"member":"179","published-online":{"date-parts":[[2001,7,1]]},"reference":[{"key":"atypb1","unstructured":"Aloimonos, J., and Shulman, D. 1989. 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