Sub-Frame Appearance and 6D Pose Estimation of Fast Moving Objects - Crossminds
CrossMind.ai logo

Sub-Frame Appearance and 6D Pose Estimation of Fast Moving Objects

Sep 29, 2020
|
41 views
|
Details
Authors: Denys Rozumnyi, Jan Kotera, Filip Šroubek, Jiří Matas Description: We propose a novel method that tracks fast moving objects, mainly non-uniform spherical, in full 6 degrees of freedom, estimating simultaneously their 3D motion trajectory, 3D pose and object appearance changes with a time step that is a fraction of the video frame exposure time. The sub-frame object localization and appearance estimation allows realistic temporal super-resolution and precise shape estimation. The method, called TbD-3D (Tracking by Deblatting in 3D) relies on a novel reconstruction algorithm which solves a piece-wise deblurring and matting problem. The 3D rotation is estimated by minimizing the reprojection error. As a second contribution, we present a new challenging dataset with fast moving objects that change their appearance and distance to the camera. High-speed camera recordings with zero lag between frame exposures were used to generate videos with different frame rates annotated with ground-truth trajectory and pose.

Comments
loading...
Reactions (0) | Note
    📝 No reactions yet
    Be the first one to share your thoughts!
loading...
Recommended