Tracking objects using 3D object proposals

Tracking objects using 3D object proposals

2017 Asia-Pacific Signal and Information Processing Association Annual Summit and Conference (APSIPA ASC)

10.1109/APSIPA.2017.8282298

http://dx.doi.org/10.1109/APSIPA.2017.8282298

Minh N Do, Ramanpreet Singh Pahwa, Tian Tsong Ng

12 December 2017

R. S. Pahwa, T. T. Ng and M. N. Do, "Tracking objects using 3D object proposals," 2017 Asia-Pacific Signal and Information Processing Association Annual Summit and Conference (APSIPA ASC), Kuala Lumpur, 2017, pp. 1657-1660. doi: 10.1109/APSIPA.2017.8282298

3D object proposals, quickly detected regions in a 3D scene that likely contain an object of interest, are an effective approach for improving the computational efficiency and accuracy of object detection. In this work, we propose a novel online method that uses 3D object proposals, in a RGB-D video sequence, to match and track static objects in the scene using shape matching. Our main observation is that depth images provide important information about the geometry of the scene that is often ignored in object matching techniques. Our method takes less than a second in MATLAB on the UW-RGBD scene dataset on a single thread CPU and thus, has potential to be used in low-power chips in Unmanned Aerial Vehicles (UAVs), quadcopters, and drones.

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Institute for Infocomm Research