Fast 3D texture-less object tracking with geometric contour and local region

Abstract

The reprojection process is a crucial step in 3D object tracking, which is used to obtain the object’s 3D points to optimize pose. Although multiple reprojections can significantly improve the accuracy, it is also a time-consuming process, especially when reading the depth buffer from video memory. In this paper, we propose a fast 3D object tracking framework to improve the calculation efficiency, which reduces the reprojection process to one time while keeping the optimization accuracy. We first use geometric contour to estimate a coarse pose fastly, in which process we avoid the reprojection process by utilizing the object’s geometric properties. Then we use the local region to refine the pose precisely while reducing the reprojection process to one time. We further propose a faster version, which can achieve 40 FPS on a mobile phone by sacrificing some accuracy. Experiments show that the proposed method can achieve results comparable to the state-of-the-art methods, while the efficiency has been nearly doubled, and our faster version can track stably on mobile phones.