RGB-D tracking of complex shapes using coarse object models - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Conference Papers Year : 2019

RGB-D tracking of complex shapes using coarse object models

Abstract

This paper presents a framework for accurately tracking objects of complex shapes with joint minimization of geometric and photometric parameters using a coarse 3D object model with the RGB-D cameras. Tracking with coarse 3D model is remarkably useful for industrial applications. A technique is proposed that uses a combination of point-to-plane distance minimization and photometric error minimization to track objects accurately. The concept of ‘keyframes’ are used in this system of object tracking for minimizing drift. The proposed approach is validated on both simulated and real data. Experimental results show that our approach is more accurate than existing state-of-the-art approaches, especially when dealing with low-textured objects with multiple coplanar faces.
Fichier principal
Vignette du fichier
ICIP_RigidTracking_v3.0_final.pdf (5.47 Mo) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

hal-02129243 , version 1 (14-05-2019)

Identifiers

Cite

Agniva Sengupta, Alexandre Krupa, Eric Marchand. RGB-D tracking of complex shapes using coarse object models. ICIP 2019 - IEEE International Conference on Image Processing, Sep 2019, Taipei, Taiwan. pp.1-5, ⟨10.1109/ICIP.2019.8803574⟩. ⟨hal-02129243⟩
133 View
319 Download

Altmetric

Share

Gmail Facebook X LinkedIn More