Duff, Damien Jade and Morwald, Thomas and Stolkin, Rustam and Wyatt, Jeremy (2011) Physical simulation for monocular 3D model based tracking. In: IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai, China.
URL of Published Version: http://dx.doi.org/10.1109/ICRA.2011.5980535
Identification Number/DOI: doi:10.1109/ICRA.2011.5980535
The problem of model-based object tracking in three dimensions is addressed. Most previous work on tracking assumes simple motion models, and consequently tracking typically fails in a variety of situations. Our insight is that incorporating physics models of object behaviour improves tracking performance in these cases. In particular it allows us to handle tracking in the face of rigid body interactions where there is also occlusion and fast object motion. We show how to incorporate rigid body physics simulation into a particle filter. We present two methods for this based on pose and force noise. The improvements are tested on four videos of a robot pushing an object, and results indicate that our approach performs considerably better than a plain particle filter tracker, with the force noise method producing the best results over the range of test videos.
|Type of Work:||Conference or Workshop Item|
|Date:||09 May 2011 (Publication)|
|School/Faculty:||Colleges (2008 onwards) > College of Engineering & Physical Sciences|
|Department:||School of Computer Science|
|Keywords:||force noise , monocular 3D model based object tracking , motion model , object motion , occlusion , particle filter , pose noise , rigid body interaction , rigid body physics simulation , robotic object pushing videos , particle filter, physical cognition, object tracking, GPU acceleration|
|Subjects:||QA75 Electronic computers. Computer science|
QA76 Computer software
|Institution:||University of Birmingham, TU Vienna|
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