Articulated Object Tracking by High-Speed Monocular RGB Camera
Articulated Object Tracking by High-Speed Monocular RGB Camera
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DOI：
10.1109/jsen.2020.3032059
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发表时间：
2021-05
影响因子：
4.3
通讯作者：
Yang Liu;A. Namiki
中科院分区：
文献类型：
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作者：
Yang Liu;A. Namiki
近年来，用单目摄像机高速跟踪关节式物体的问题越来越受到关注。提出了一种基于单目摄像机的高帧率关节式目标跟踪方法。该方法是我们以前的高速单目刚性目标跟踪研究的扩展版本。在这项研究中，为了实现对关节式物体的跟踪，我们将双四元数运动学与我们以前的快速像素后验（fast-PWP 3D）跟踪框架相结合，并提出了一个自回归（AR）过程来编码估计状态向量的动态传播。我们给出了我们的方法的数学公式的完整三维推导，并表明我们的方法能够仅用单目相机跟踪具有大量自由度的铰接对象，并且对动态环境变化（例如，照明/部分遮挡）。此外，我们展示了我们的方法的一个有效的实施策略。实时实验的结果表明，我们实现了近350 Hz的性能时，跟踪一个四自由度（4-DOF）铰接对象与单目摄像机。
In recent years, tracking of articulated objects at high speed with monocular cameras has been gaining attention. This study presents a novel method for high-frame-rate articulated object tracking with a monocular camera. The method is an extended version of our previous research on high-speed monocular rigid object tracking. In this study, to realize tracking of an articulated object, we integrate dual-quaternion kinematics with our previous fast pixel-wise-posteriors (fast-PWP3D) tracking framework, and propose an auto-regressive (AR) process to encode the dynamic propagation of the estimated state vectors. We give a full three-dimensional derivation of the mathematical formulation of our method and show that our method is capable of tracking an articulated object having a large number of degrees of freedom with only a monocular camera, and is robust against dynamic environmental changes (e.g., illumination/partial occlusion). Moreover, we show an efficient implementation strategy of our method. The results of real-time experiments show that we achieved nearly 350 Hz performance when tracking a four degrees-of-freedom (4-DOF) articulated object with a monocular camera.