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Conference Papers Year : 2012

Real Time Semi-dense Point Tracking

Matthieu Garrigues
Antoine Manzanera


This paper presents a new algorithm to track a high number of points in a video sequence in real-time. We propose a fast keypoint detector, used to create new particles, and an associated multiscale de-scriptor (feature) used to match the particles from one frame to the next. The tracking algorithm updates for each particle a series of appearance and kinematic states, that are temporally filtered. It is robust to hand held camera accelerations thanks to a coarse-to-fine dominant movement estimation. Each step is designed to reach the maximal level of data par-allelism, to target the most common parallel platforms. Using graphics processing unit, our current implementation handles 10 000 points per frame at 55 frames-per-second on 640 × 480 videos.
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Dates and versions

hal-01118324 , version 1 (18-02-2015)



Matthieu Garrigues, Antoine Manzanera. Real Time Semi-dense Point Tracking. ICIAR, 2012, Aveiro, Portugal. pp.245 - 252, ⟨10.1007/978-3-642-31295-3_29⟩. ⟨hal-01118324⟩


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