Physical simulation for monocular 3D model based tracking
The problem of model-based object tracking in three dimensions is addressed. Most previous work on tracking assumes simple motion models, and consequently tracking typically fails in a variety of situations. Our insight is that incorporating physics models of object behaviour improves tracking performance in these cases. In particular it allows us to handle tracking in the face of rigid body interactions where there is also occlusion and fast object motion. We show how to incorporate rigid body physics simulation into a particle filter. We present two methods for this based on pose and force noise. The improvements are tested on four videos of a robot pushing an object, and results indicate that our approach performs considerably better than a plain particle filter tracker, with the force noise method producing the best results over the range of test videos.
Damien Jade Duff Thomas M(o)rwald Rustam Stolkin Jeremy Wyatt
School of Computer Science,University of Birmingham,B15 2TT,Birmingham,United Kingdom Institute of Automation and Control,Vienna University of Technology,Gusshausstrasse 27-29/E376 1040
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
5218-5225
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）