Real-Time 3D Model Tracking in Color and Depth on a Single CPU Core
This addresses the need for efficient 3D tracking in applications like robotics or AR, though it is incremental as it builds on existing region-based tracking methods.
The paper tackles the problem of real-time 3D model tracking in color and depth data by introducing approximations that accelerate state-of-the-art region-based tracking by an order of magnitude while maintaining similar accuracy, achieving better results and much faster performance on a single CPU core.
We present a novel method to track 3D models in color and depth data. To this end, we introduce approximations that accelerate the state-of-the-art in region-based tracking by an order of magnitude while retaining similar accuracy. Furthermore, we show how the method can be made more robust in the presence of depth data and consequently formulate a new joint contour and ICP tracking energy. We present better results than the state-of-the-art while being much faster then most other methods and achieving all of the above on a single CPU core.