Real-Time 3D Model Tracking in Color and Depth on a Single CPU Core

Wadim Kehl, Federico Tombari, Slobodan Ilic, Nassir Navab; Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2017, pp. 745-753

Abstract

We present a novel method to track 3D models in color and depth data. To this end, we introduce approximations that accelerate the state-of-the-art in region-based tracking by an order of magnitude while retaining similar accuracy. Furthermore, we show how the method can be made more robust in the presence of depth data and consequently formulate a new joint contour and ICP tracking energy. We present better results than the state-of-the-art while being much faster then most other methods and achieving all of the above on a single CPU core.

Related Material

[pdf] [arXiv] [poster]
[bibtex]
@InProceedings{Kehl_2017_CVPR,
author = {Kehl, Wadim and Tombari, Federico and Ilic, Slobodan and Navab, Nassir},
title = {Real-Time 3D Model Tracking in Color and Depth on a Single CPU Core},
booktitle = {Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
month = {July},
year = {2017}
}