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not successful. This happens when the tracking has “lost” the object and consecutive tracking
iteration move the object around in the sensor data. In practice we have set this velocity to 80mm
per frame. With 30 fps this means a velocity of about 2.4m per second. This is enough to accurately
track quickly moving objects, while being robust to detect the random movements that typically
occur when tracking of the object fails.
4. Experiments and Evaluation
In order to compare the performance of our approach against the state of the art we use the
synthetic dataset provided by Choi and Christensen [5]. The approach is also evaluated on real-
world objects and the results are presented in [12]. Interested readers can find more information
here2. The dataset in [5] consists of four object models and a synthetic test sequence (1000 RGB-D
frames) for each object. The test sequence is obtained by placing each object in a virtual kitchen
model and moving a virtual camera around the model. The object trajectories w.r.t the virtual
camera coordinate frame serves as the ground truth pose (error free since it is generated via
rendering) of the object. Fig. 2 shows one such frame of each object sequence. The performance of
the proposed tracking approach on the synthetic data set is as shown in Figure 3.
Figure 2. Example images from the synthetic test data set provided by [5], a) Milk b) Orange Juice c) Tide d)
Kinect Box
Figure 3: Results of the tracking approach on the synthetic data set a) Milk b) Orange Juice c) Tide and d) Kinect box
2 http://tracking.profactor.at
102
Proceedings
OAGM & ARW Joint Workshop 2016 on "Computer Vision and Robotics“
- Titel
- Proceedings
- Untertitel
- OAGM & ARW Joint Workshop 2016 on "Computer Vision and Robotics“
- Autoren
- Peter M. Roth
- Kurt Niel
- Verlag
- Verlag der Technischen Universität Graz
- Ort
- Wels
- Datum
- 2017
- Sprache
- englisch
- Lizenz
- CC BY 4.0
- ISBN
- 978-3-85125-527-0
- Abmessungen
- 21.0 x 29.7 cm
- Seiten
- 248
- Schlagwörter
- Tagungsband
- Kategorien
- International
- Tagungsbände