TY - GEN
T1 - RGB-D object tracking
T2 - 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
AU - Choi, Changhyun
AU - Christensen, Henrik I.
PY - 2013/12/1
Y1 - 2013/12/1
N2 - This paper presents a particle filtering approach for 6-DOF object pose tracking using an RGB-D camera. Our particle filter is massively parallelized in a modern GPU so that it exhibits real-time performance even with several thousand particles. Given an a priori 3D mesh model, the proposed approach renders the object model onto texture buffers in the GPU, and the rendered results are directly used by our parallelized likelihood evaluation. Both photometric (colors) and geometric (3D points and surface normals) features are employed to determine the likelihood of each particle with respect to a given RGB-D scene. Our approach is compared with a tracker in the PCL both quantitatively and qualitatively in synthetic and real RGB-D sequences, respectively.
AB - This paper presents a particle filtering approach for 6-DOF object pose tracking using an RGB-D camera. Our particle filter is massively parallelized in a modern GPU so that it exhibits real-time performance even with several thousand particles. Given an a priori 3D mesh model, the proposed approach renders the object model onto texture buffers in the GPU, and the rendered results are directly used by our parallelized likelihood evaluation. Both photometric (colors) and geometric (3D points and surface normals) features are employed to determine the likelihood of each particle with respect to a given RGB-D scene. Our approach is compared with a tracker in the PCL both quantitatively and qualitatively in synthetic and real RGB-D sequences, respectively.
UR - http://www.scopus.com/inward/record.url?scp=84893760541&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84893760541&partnerID=8YFLogxK
U2 - 10.1109/IROS.2013.6696485
DO - 10.1109/IROS.2013.6696485
M3 - Conference contribution
AN - SCOPUS:84893760541
SN - 9781467363587
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1084
EP - 1091
BT - IROS 2013
Y2 - 3 November 2013 through 8 November 2013
ER -