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Bibliography

Conference Paper (international conference)

Sub-Frame Appearance and 6D Pose Estimation of Fast Moving Objects

Rozumnyi D., Kotera Jan, Šroubek Filip, Matas J.

: 2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), p. 6777-6785

: 2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), (Seattle, US, 20200616)

: GA18-05360S, GA ČR

: tracking, deblurring, matting, deblatting

: 10.1109/CVPR42600.2020.00681

: http://library.utia.cas.cz/separaty/2020/ZOI/sroubek-0533751.pdf

(eng): We have proposed a method for sub-frame appearance and 6D pose estimation of fast moving objects. We propose a novel method that tracks fast moving objects, mainly non-uniform spherical, in full 6 degrees of freedom, estimating simultaneously their 3D motion trajectory, 3D pose and object appearance changes with a time step that is a fraction of the video frame exposure time. The sub-frame object localization and appearance estimation allows realistic temporal super-resolution and precise shape estimation. The method, called TbD-3D (Tracking by Deblatting in 3D) relies on a novel reconstruction algorithm which solves a piece-wise deblurring and matting problem. The 3D rotation is estimated by minimizing the reprojection error. As a second contribution, we present a new challenging dataset with fast moving objects that change their appearance and distance to the camera. High-speed camera recordings with zero lag between frame exposures were used to generate videos with different frame rates annotated with ground-truth trajectory and pose.

: JD

: 20206