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3D Object Tracking with Transformer [article]

Yubo Cui, Zheng Fang, Jiayao Shan, Zuoxu Gu, Sifan Zhou
2021 arXiv   pre-print
Feature fusion and similarity computation are two core problems in 3D object tracking, especially for object tracking using sparse and disordered point clouds.  ...  Based on this feature fusion network, we propose an end-to-end point cloud object tracking framework, a simple yet effective method for 3D object tracking using point clouds.  ...  Furthermore, following [27] , we propose a LiDAR-based 3D Object Tracking with TRansformer framework (LTTR), which is simple but efficient.  ... 
arXiv:2110.14921v1 fatcat:sb3m7tjucrcwdjhdjqsj2d4t4y

PTTR: Relational 3D Point Cloud Object Tracking with Transformer [article]

Changqing Zhou, Zhipeng Luo, Yueru Luo, Tianrui Liu, Liang Pan, Zhongang Cai, Haiyu Zhao, Shijian Lu
2022 arXiv   pre-print
Motivated by the success of transformers, we propose Point Tracking TRansformer (PTTR), which efficiently predicts high-quality 3D tracking results in a coarse-to-fine manner with the help of transformer  ...  In a point cloud sequence, 3D object tracking aims to predict the location and orientation of an object in the current search point cloud given a template point cloud.  ...  by 2D CNN architectures and they are not designed to address the unique challenges of 3D tracking. 3D Object Tracking. 3D object tracking can be roughly divided into two categories: multi-object tracking  ... 
arXiv:2112.02857v5 fatcat:naxeuwosm5f5ddcr5naob6536y

Track to Reconstruct and Reconstruct to Track [article]

Jonathon Luiten and Tobias Fischer and Bastian Leibe
2019 arXiv   pre-print
Object tracking and 3D reconstruction are often performed together, with tracking used as input for reconstruction.  ...  Our approach, MOTSFusion (Multi-Object Tracking, Segmentation and dynamic object Fusion), exploits the 3D motion extracted from dynamic object reconstructions to track objects through long periods of complete  ...  In order to fuse dynamic objects in 3D, MOTSFusion relies on the assumption that the objects only move with rigid body transformations.  ... 
arXiv:1910.00130v2 fatcat:5qgijnzeevgj7eqhwvcybtun7i

PTT: Point-Track-Transformer Module for 3D Single Object Tracking in Point Clouds [article]

Jiayao Shan, Sifan Zhou, Zheng Fang, Yubo Cui
2021 arXiv   pre-print
3D single object tracking is a key issue for robotics. In this paper, we propose a transformer module called Point-Track-Transformer (PTT) for point cloud-based 3D single object tracking.  ...  on deeper-level object clues during tracking. • PTT-Net: a 3D single object tracking network named PTT-Net embedded with PTT modules which can be end-toend trained.  ...  RELATED WORK This section will briefly discuss the related work in 3D single object tracking, transformer and self-attention mechanism. A. 3D SOT Using Point Cloud Giancola et al.  ... 
arXiv:2108.06455v3 fatcat:oebwissvifg4znge67cd7jdjlq

3D Tracking and Control of UAV Using Planar Faces and Monocular Camera [chapter]

Manlio Barajas, José Pablo Dávalos-Viveros, J. L. Gordillo
2013 Lecture Notes in Computer Science  
This is a step towards an automatic 3D pose tracking system.  ...  A method for tracking the 3D pose and controlling an unmanned aerial vehicle (UAV) is presented.  ...  The 3D reconstruction is necessary since, when the object rotates, it's used to predict the adequate transformation for the new face to track. 3D Object Tracking Using Planar Faces In this section, a  ... 
doi:10.1007/978-3-642-38989-4_7 fatcat:xdu4itiwhjgcpiiwsehs4m6bj4

Alignment of the Virtual Scene to the Tracking Space of a Mixed Reality Head-Mounted Display [article]

Ehsan Azimi, Long Qian, Nassir Navab, Peter Kazanzides
2019 arXiv   pre-print
With the aid of tracking systems, it is possible to register rendered graphics with tracked objects in the real world.  ...  In addition, a faster and more intuitive version of this calibration is introduced in which the user simultaneously aligns multiple points of a single virtual 3D object with its real counterpart; this  ...  The user holds the same object with attached ARTags for tracking.  ... 
arXiv:1703.05834v4 fatcat:e75bovbcnzbqphuemvga33wd6e

Geometrically Constrained Level Set Tracking for Automotive Applications [chapter]

Esther Horbert, Dennis Mitzel, Bastian Leibe
2010 Lecture Notes in Computer Science  
Apart from reducing the number of parameters in the estimation, the 3D transformation model allows us to obtain additional information about the tracked objects and to recover their detailed 3D motion  ...  We demonstrate how this information can be used to improve a Kalman filter estimate of the tracked vehicle dynamics in a higher-level tracker, leading to more accurate object trajectories.  ...  Reid for valuable comments for the level-set tracking and for making their evaluation data available.  ... 
doi:10.1007/978-3-642-15986-2_48 fatcat:u6u4pizfmze6pktwt64h4bdyvy

Affine object representations for calibration-free augmented reality

K.N. Kutulakos, J. Vallino
1996 Proceedings of the IEEE 1996 Virtual Reality Annual International Symposium  
objects.  ...  We exploit this observation by (1) tracking lines and fiducial points at frame rate, and (2) representing virtual objects in a non-Euclidean, affine frame of reference that allows their projection to be  ...  Affine Basis Tracking The ability to track the projection of 3D points undergoing rigid transformations with respect to the camera becomes crucial in any method that relies on image information to represent  ... 
doi:10.1109/vrais.1996.490507 dblp:conf/vr/KutulakosV96 fatcat:4amyp2jyfrc7zl4pmwrxp53b4i

Realtime tracking and grasping of a moving object from range video

Farzad Husain, Adria Colome, Babette Dellen, Guillem Alenya, Carme Torras
2014 2014 IEEE International Conference on Robotics and Automation (ICRA)  
In this paper we present an automated system that is able to track and grasp a moving object within the workspace of a manipulator using range images acquired with a Microsoft Kinect sensor.  ...  Based on the tracked output, the pose of a 7-DoF WAM robotic arm is continuously updated using dynamic motor primitives until a distance measure between the tracked object and the gripper mounted on the  ...  Another possible approach to tracking using depth is to directly determine the 3D rigid transform that the tracked surface undergoes.  ... 
doi:10.1109/icra.2014.6907234 dblp:conf/icra/HusainCDAT14 fatcat:xuduruhivzggrpgamp2etjzj6u

Open-source neuronavigation for multimodal non-invasive brain stimulation using 3D Slicer [article]

Frank Preiswerk, Spencer T. Brinker, Nathan J. McDannold, Timothy Y. Mariano
2019 arXiv   pre-print
Second, all files are made available online, with a comprehensive step-by-step manual, quickly allowing researchers to build a custom system.  ...  The authors thank Jason Phillip White, PhD for assistance with the accuracy measurements, as well as the 3D Slicer and Plus toolkit community for developing and maintaining their highly valued open-source  ...  In the case of optical tracking used here, objects are equipped with a set of passive optically reflective spheres.  ... 
arXiv:1909.12458v1 fatcat:t52bigzktvatxap2fn7rfslnem

A Versatile Learning-Based 3D Temporal Tracker: Scalable, Robust, Online

David Joseph Tan, Federico Tombari, Slobodan Ilic, Nassir Navab
2015 2015 IEEE International Conference on Computer Vision (ICCV)  
This paper proposes a temporal tracking algorithm based on Random Forest that uses depth images to estimate and track the 3D pose of a rigid object in real-time.  ...  of over a hundred objects at 30 fps with an off-the-shelf CPU.  ...  Introduction This paper focuses on 3D object temporal tracking to find the pose of a rigid object, with three degrees of freedom for rotation and three for translation, across a series of depth frames  ... 
doi:10.1109/iccv.2015.86 dblp:conf/iccv/TanTIN15 fatcat:lz2nptciwnd7xiqtuda5lbu7yq

A New Framework of Moving Object Tracking based on Object Detection-Tracking with Removal of Moving Features

Ly Quoc Ngoc, Nguyen Thanh, Le Bao
2020 International Journal of Advanced Computer Science and Applications  
The paper proposes a method inherited by tracking by detection approach. It integrates a single tracker with object detection method.  ...  The proposed tracking system can track object efficiency and effectively because object detection method can be used to find the tracked object again if the single tracker loses track.  ...  And Tracking by Detection with 3D Environment Reconstruction can estimate the three-dimensional position of the tracked object.  ... 
doi:10.14569/ijacsa.2020.0110406 fatcat:kclpyzrn6bbxlny2h76tosfoxe

Detection of 3D Bounding Boxes of Vehicles Using Perspective Transformation for Accurate Speed Measurement [article]

Viktor Kocur, Milan Ftáčnik
2020 arXiv   pre-print
The transformation enables an intuitive simplification of the problem of detecting 3D bounding boxes to detection of 2D bounding boxes with one additional parameter using a standard 2D object detector.  ...  We present an improved version of our algorithm for detection of 3D bounding boxes of vehicles, their tracking and subsequent speed estimation.  ...  The authors also gratefully acknowledge the support of NVIDIA Corporation with the donation of GPUs.  ... 
arXiv:2003.13137v2 fatcat:uvcqq5jjcfgmla7ffo43wjs4ca

RGB-D object modelling for object recognition and tracking

Johann Prankl, Aitor Aldoma, Alexander Svejda, Markus Vincze
2015 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
This work presents a flexible system to reconstruct 3D models of objects captured with an RGB-D sensor.  ...  In addition, the 3D models acquired by our system can be directly used by state-of-the-art object instance recognition and object tracking modules, providing object-perception capabilities to complex applications  ...  We also show how the reconstructed 3D models are effectively used for object instance recognition and 6-DoF pose estimation, as well as for object tracking with monocular cameras. II.  ... 
doi:10.1109/iros.2015.7353360 dblp:conf/iros/PranklASV15 fatcat:wv4b4egjebhjrcpm3m5ogix2ua

Noble Control Scheme for Prosthetic Hands through Spatial Understanding

Yunan He, Osamu Fukuda, Nobuhiko Yamaguchi, Hiroshi Okumura, Kohei Arai
2020 International Journal of Advanced Computer Science and Applications  
With the help of IMU sensors, the relationship can be tracked and kept wherever the prosthetic hand moves even the object is out of the view range of the camera.  ...  To interact with the user, this process is visualized using augmented reality (AR) technology.  ...  Object Matching Object matching refers to matching the graphic 3D model with the real object in the image.  ... 
doi:10.14569/ijacsa.2020.0111088 fatcat:6jybjjaviva5pi6bk3jma7giaq
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