Fast 3D texture-less object tracking with geometric contour and local region. (June 2021)

• Record Type: Journal Article
• Authors: Li, Jiachen; Song, Xiuqiang; Zhong, Fan; Qin, Xueying
• Is Part Of: Computers & graphics. Volume 97(2021)
• Page Start: 225
• Page End: 235
• Publication Date: 2021-06
• Subjects: 3D object tracking -- Texture-less object -- Geometric contour -- Local region -- Mobile phone; Computer graphics -- Periodicals; 006.6
• DOI: 10.1016/j.cag.2021.04.012
• Languages: English
• ISSNs: 0097-8493

Abstract

Highlights: Combine edge features and color features, and reduce the reprojection process to one time. Use model's geometric properties to extract geometric contour to avoid reprojection process. Use space coordinate transformation to update the 3D point set of region points. The calculation speed is nearly doubled while ensuring accuracy. Propose a faster version, reaching 40 FPS on the mobile phone. Graphical abstract: Abstract: The reprojection process is a crucial step in 3D object tracking, which is used to obtain the object's 3D points to optimize pose. Although multiple reprojections can significantly improve the accuracy, it is also a time-consuming process, especially when reading the depth buffer from video memory. In this paper, we propose a fast 3D object tracking framework to improve the calculation efficiency, which reduces the reprojection process to one time while keeping the optimization accuracy. We first use geometric contour to estimate a coarse pose fastly, in which process we avoid the reprojection process by utilizing the object's geometric properties. Then we use the local region to refine the pose precisely while reducing the reprojection process to one time. We further propose a faster version, which can achieve 40 FPS on a mobile phone by sacrificing some accuracy. Experiments show that the proposed method can achieve results comparable to the state-of-the-art methods, while the efficiency has been nearly doubled, and our faster version can track stably on mobile phones.