Egocentric 6-DoF Tracking of Small Handheld Objects [article]

Rohit Pandey, Pavel Pidlypenskyi, Shuoran Yang, Christine Kaeser-Chen
2018 arXiv   pre-print
Virtual and augmented reality technologies have seen significant growth in the past few years. A key component of such systems is the ability to track the pose of head mounted displays and controllers in 3D space. We tackle the problem of efficient 6-DoF tracking of a handheld controller from egocentric camera perspectives. We collected the HMD Controller dataset which consist of over 540,000 stereo image pairs labelled with the full 6-DoF pose of the handheld controller. Our proposed
more » ... reo3D model achieves a mean average error of 33.5 millimeters in 3D keypoint prediction and is used in conjunction with an IMU sensor on the controller to enable 6-DoF tracking. We also present results on approaches for model based full 6-DoF tracking. All our models operate under the strict constraints of real time mobile CPU inference.
arXiv:1804.05870v1 fatcat:77fv6el3fvgdnlct5umyzm6jke