A Gauss-Newton Approach to Real-Time Monocular Multiple Object Tracking

07/05/2018
by   Henning Tjaden, et al.
0

We propose an algorithm for real-time 6DOF pose tracking of rigid 3D objects using a monocular RGB camera. The key idea is to derive a region-based cost function using temporally consistent local color histograms. While such region-based cost functions are commonly optimized using first-order gradient descent techniques, we systematically derive a Gauss-Newton optimization scheme which gives rise to drastically faster convergence and highly accurate and robust tracking performance. We furthermore propose a novel complex dataset dedicated for the task of monocular object pose tracking and make it publicly available to the community. To our knowledge, It is the first to address the common and important scenario in which both the camera as well as the objects are moving simultaneously in cluttered scenes. In numerous experiments - including our own proposed data set - we demonstrate that the proposed Gauss-Newton approach outperforms existing approaches, in particular in the presence of cluttered backgrounds, heterogeneous objects and partial occlusions.

READ FULL TEXT

page 2

page 3

page 5

page 6

page 8

page 12

page 13

page 14

research
10/25/2021

SRT3D: A Sparse Region-Based 3D Object Tracking Approach for the Real World

Region-based methods have become increasingly popular for model-based, m...
research
10/16/2016

Real-time Joint Tracking of a Hand Manipulating an Object from RGB-D Input

Real-time simultaneous tracking of hands manipulating and interacting wi...
research
12/04/2017

GANerated Hands for Real-time 3D Hand Tracking from Monocular RGB

We address the highly challenging problem of real-time 3D hand tracking ...
research
03/24/2023

BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objects

We present a near real-time method for 6-DoF tracking of an unknown obje...
research
03/16/2021

Simultaneous Multi-View Camera Pose Estimation and Object Tracking with Square Planar Markers

Object tracking is a key aspect in many applications such as augmented r...
research
08/19/2023

Root Pose Decomposition Towards Generic Non-rigid 3D Reconstruction with Monocular Videos

This work focuses on the 3D reconstruction of non-rigid objects based on...
research
02/16/2018

SpaRTA - Tracking across occlusions via global partitioning of 3D clouds of points

Any 3D tracking algorithm has to deal with occlusions: multiple targets ...

Please sign up or login with your details

Forgot password? Click here to reset