/Combining 3D Shape, Color, and Motion for Robust Anytime Tracking

Combining 3D Shape, Color, and Motion for Robust Anytime Tracking

David Held, Jesse Levinson, Sebastian Thrun and Silvio Savarese
Conference Paper, Robotics: Science and Systems (RSS), July, 2014

Download Publication (PDF)

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author’s copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract

Although object tracking has been studied for decades, real-time tracking algorithms often suffer from low accuracy and poor robustness when confronted with difficult, real-world data. We present tracker that combines 3D shape, color (when available), and motion cues to accurately track moving objects in real-time. Our tracker allocates computational effort based on the shape of the posterior distribution. Starting with a coarse approximation to the posterior, the tracker successively refines this distribution, increasing tracking accuracy over time. The tracker can thus be run for any amount of time, after which the current approximation to the posterior is returned. Even at a minimum runtime of 0.7 milliseconds, our method outperforms all of the baseline methods of similar speed by at least 10%. If our tracker is allowed to run for longer, the accuracy continues to improve, and it continues to outperform all baseline methods. Our tracker is thus anytime, allowing the speed or accuracy to be optimized based on the needs of the application.

BibTeX Reference
@conference{Held-2014-103057,
author = {David Held and Jesse Levinson and Sebastian Thrun and Silvio Savarese},
title = {Combining 3D Shape, Color, and Motion for Robust Anytime Tracking},
booktitle = {Robotics: Science and Systems (RSS)},
year = {2014},
month = {July},
}
2017-12-07T16:21:37+00:00