Fast 3D texture-less object tracking with geometric contour and local region

摘要

The reprojection process is a crucial step in 3D object tracking, which is used to obtain the object & rsquo;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 & rsquo;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.(c) 2021 Elsevier Ltd. All rights reserved.