Authors:
Lucas Valença
1
;
Luca Silva
1
;
Thiago Chaves
1
;
Arlindo Gomes
1
;
Lucas Figueiredo
1
;
Lucio Cossio
2
;
Sebastien Tandel
2
;
João Paulo Lima
3
;
1
;
Francisco Simões
4
;
1
and
Veronica Teichrieb
1
Affiliations:
1
Voxar Labs, Centro de Informática, Universidade Federal de Pernambuco, Recife, Brazil
;
2
HP Inc., Porto Alegre, Brazil
;
3
Departamento de Computação, Universidade Federal Rural de Pernambuco, Recife, Brazil
;
4
Campus Belo Jardim, Instituto Federal de Pernambuco, Belo Jardim, Brazil
Keyword(s):
6DoF Tracking, Edge-based, Monocular, Real-time, Model-based, Mobile, Multi-object, Augmented Reality, Textureless, Segmentation, RGB, HSV, Single-thread.
Abstract:
We propose a novel real-time edge-based 6DoF tracking approach for 3D rigid objects requiring just a monocular RGB camera and a CAD model with material information. The technique is aimed at low-texture or textureless, pigmented objects. It works even when under strong illumination, motion, and occlusion challenges. We show how preprocessing the model’s texture can improve tracking and apply region-based ideas like localized segmentation to improve the edge-based pipeline. This way, our technique is able to find model edges even under fast motion and in front of high-gradient backgrounds. Our implementation runs on desktop and mobile. It only requires one CPU thread per object tracked simultaneously and requires no GPU. It showcases a drastically reduced memory footprint when compared to the state of the art. To show how our technique contributes to the state of the art, we perform comparisons using two publicly available benchmarks.