Sub-Frame Appearance and 6D Pose Estimation of Fast Moving Objects
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Date
2020
Publication Type
Conference Paper
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yes
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Abstract
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.
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published
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2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)
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Pages / Article No.
6777 - 6785
Publisher
IEEE
Event
2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR 2020) (virtual)
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Organisational unit
03766 - Pollefeys, Marc / Pollefeys, Marc
Notes
Due to the Coronavirus (COVID-19) the conference was conducted virtually.