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Real-time Pose Detection and Tracking of Hundreds of Objects
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP.ORCID iD: 0000-0003-3731-0582
2015 (English)In: IEEE transactions on circuits and systems for video technology (Print), ISSN 1051-8215Article in journal (Refereed) Epub ahead of print
Abstract [en]

We propose a novel model-based method for tracking the six-degrees-of-freedom (6DOF) pose of a very large number of rigid objects in real-time. By combining dense motion and depth cues with sparse keypoint correspondences, and by feeding back information from the modeled scene to the cue extraction process, the method is both highly accurate and robust to noise and occlusions. A tight integration of the graphical and computational capability of graphics processing units (GPUs) allows the method to simultaneously track hundreds of objects in real-time. We achieve pose updates at framerates around 40 Hz when using 500,000 data samples to track 150 objects using images of resolution 640x480. We introduce a synthetic benchmark dataset with varying objects, background motion, noise and occlusions that enables the evaluation of stereo-vision-based pose estimators in complex scenarios. Using this dataset and a novel evaluation methodology, we show that the proposed method greatly outperforms state-of-the-art methods. Finally, we demonstrate excellent performance on challenging real-world sequences involving multiple objects being manipulated.

Place, publisher, year, edition, pages
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Robotics Robotics
URN: urn:nbn:se:kth:diva-165635DOI: 10.1109/TCSVT.2015.2430652OAI: diva2:808735

QP 201506

Available from: 2015-04-29 Created: 2015-04-29 Last updated: 2015-06-24Bibliographically approved

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Pauwels, Karl
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