SRT3D: A Sparse Region-Based 3D Object Tracking Approach for the Real World

@article{Stoiber2021SRT3DAS,
  title={SRT3D: A Sparse Region-Based 3D Object Tracking Approach for the Real World},
  author={Manuel Stoiber and Martin Pfanne and Klaus H. Strobl and Rudolph Triebel and Alin Albu-Schaffer},
  journal={International Journal of Computer Vision},
  year={2021},
  volume={130},
  pages={1008 - 1030}
}
Region-based methods have become increasingly popular for model-based, monocular 3D tracking of texture-less objects in cluttered scenes. However, while they achieve state-of-the-art results, most methods are computationally expensive, requiring significant resources to run in real-time. In the following, we build on our previous work and develop SRT3D, a sparse region-based approach to 3D object tracking that bridges this gap in efficiency. Our method considers image information sparsely along… 
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5 Citations

Iterative Corresponding Geometry: Fusing Region and Depth for Highly Efficient 3D Tracking of Textureless Objects

ICG, a novel probabilistic tracker that fuses region and depth information and only requires the object geometry, is proposed, which outperforms the current state of the art with respect to accuracy and robustness.

Large-displacement 3D Object Tracking with Hybrid Non-local Optimization

A hybrid approach combining non- local and local optimizations for different parameters, resulting in efficient non-local search in the 6D pose space is proposed, and a precomputed robust contour-based tracking method is proposed for the pose optimization.

A Multi-body Tracking Framework - From Rigid Objects to Kinematic Structures

The proposed framework considers both tree-like and closed kinematic structures and allows a flexible configuration of joints and constraints and extends ICG, which is a state-of-the-art rigid object tracking algorithm, to multi-body tracking.

Visual Pose Measurement for Automatic Landing on an Aircraft Carrier

A novel airborne non-cooperative method to measure the relative pose for automatic landing using the PP-PicoDet and a texture randomization method to generate high quality data for model training.

C-LRF based pose measurement system for shipborne aircraft automatic landing

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