Real-Time Tracking of Single and Multiple Objects from Depth-Colour Imagery Using 3D Signed Distance Functions
作者: C. Y. RenV. A. PrisacariuO. KählerI. D. ReidD. W. Murray
作者单位: 1University of Oxford
2University of Adelaide
刊名: International Journal of Computer Vision, 2017, Vol.124 (1), pp.80-95
来源数据库: Springer Nature Journal
DOI: 10.1007/s11263-016-0978-2
关键词: Multi-object trackingDepth trackingRGB-D imagerySigned distance functionsReal-time
英文摘要: We describe a novel probabilistic framework for real-time tracking of multiple objects from combined depth-colour imagery. Object shape is represented implicitly using 3D signed distance functions. Probabilistic generative models based on these functions are developed to account for the observed RGB-D imagery, and tracking is posed as a maximum a posteriori problem. We present first a method suited to tracking a single rigid 3D object, and then generalise this to multiple objects by combining distance functions into a shape union in the frame of the camera. This second model accounts for similarity and proximity between objects, and leads to robust real-time tracking without recourse to bolt-on or ad-hoc collision detection.
原始语种摘要: We describe a novel probabilistic framework for real-time tracking of multiple objects from combined depth-colour imagery. Object shape is represented implicitly using 3D signed distance functions. Probabilistic generative models based on these functions are developed to account for the observed RGB-D imagery, and tracking is posed as a maximum a posteriori problem. We present first a method suited to tracking a single rigid 3D object, and then generalise this to multiple objects by combining distance functions into a shape union in the frame of the camera. This second model accounts for similarity and proximity between objects, and leads to robust real-time tracking without recourse to bolt-on or ad-hoc collision detection.
全文获取路径: Springer Nature  (合作)
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影响因子:3.623 (2012)

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关键词翻译
关键词翻译
  • Tracking 追踪
  • tracking 跟踪
  • imagery 成象
  • probabilistic 概率的
  • RGB 红绿蓝
  • colour 颜料
  • shape 形状
  • proximity 邻近
  • camera 摄影机
  • implicitly 隐含地