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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 co-planar faces.

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Paper Details

Authors:
Agniva Sengupta, Alexandre Krupa, Eric Marchand
Submitted On:
20 September 2019 - 11:29am
Short Link:
Type:
Poster
Event:
Presenter's Name:
Agniva Sengupta
Paper Code:
1968
Document Year:
2019
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Poster_RGBDTracking.pdf

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[1] Agniva Sengupta, Alexandre Krupa, Eric Marchand, "RGB-D tracking of complex shapes using coarse object models", IEEE SigPort, 2019. [Online]. Available: http://sigport.org/4786. Accessed: Oct. 18, 2019.
@article{4786-19,
url = {http://sigport.org/4786},
author = {Agniva Sengupta; Alexandre Krupa; Eric Marchand },
publisher = {IEEE SigPort},
title = {RGB-D tracking of complex shapes using coarse object models},
year = {2019} }
TY - EJOUR
T1 - RGB-D tracking of complex shapes using coarse object models
AU - Agniva Sengupta; Alexandre Krupa; Eric Marchand
PY - 2019
PB - IEEE SigPort
UR - http://sigport.org/4786
ER -
Agniva Sengupta, Alexandre Krupa, Eric Marchand. (2019). RGB-D tracking of complex shapes using coarse object models. IEEE SigPort. http://sigport.org/4786
Agniva Sengupta, Alexandre Krupa, Eric Marchand, 2019. RGB-D tracking of complex shapes using coarse object models. Available at: http://sigport.org/4786.
Agniva Sengupta, Alexandre Krupa, Eric Marchand. (2019). "RGB-D tracking of complex shapes using coarse object models." Web.
1. Agniva Sengupta, Alexandre Krupa, Eric Marchand. RGB-D tracking of complex shapes using coarse object models [Internet]. IEEE SigPort; 2019. Available from : http://sigport.org/4786