High-speed Target Tracking of 3D Object by Monocular camera

Abstract

Tracking a high-speed moving target is a fundamental task in many robotic applications. There are numbers of high-speed vision systems have been developed for high-speed visual feedback [1]. In this study, we somehow focus on high-speed target tracking of both 3D position and orientation using only a monocular camera. This is a light-weight solution for many fields. We modify the pixel-wise posteriors 3D (PWP3D [2]) algorithm for high-speed target tracking and pose estimation. Experiment result show that the tracking accuracy against changes in the environment (e.g., partial occlusion) was improved compared with the original PWP3D. As a real-time application, we demonstrate our method is capable of tracking high-speed flying object.