A Region-Based Gauss-Newton Approach to Real-Time Monocular Multiple Object Tracking

Tjaden H, Schwanecke U, Schoemer E, Cremers D (2019)

Publication Type: Journal article

Publication year: 2019

Journal

IEEE Transactions on Pattern Analysis and Machine Intelligence Institute of Electrical and Electronics Engineers (IEEE)

Book Volume: 41

Pages Range: 1797-1812

Article Number: 8565885

Journal Issue: 8

DOI: 10.1109/TPAMI.2018.2884990

Abstract

We propose an algorithm for real-time 6DOF pose tracking of rigid 3D objects using a monocular RGB camera. The key idea is to derive a region-based cost function using temporally consistent local color histograms. While such region-based cost functions are commonly optimized using first-order gradient descent techniques, we systematically derive a Gauss-Newton optimization scheme which gives rise to drastically faster convergence and highly accurate and robust tracking performance. We furthermore propose a novel complex dataset dedicated for the task of monocular object pose tracking and make it publicly available to the community. To our knowledge, it is the first to address the common and important scenario in which both the camera as well as the objects are moving simultaneously in cluttered scenes. In numerous experiments-including our own proposed dataset-we demonstrate that the proposed Gauss-Newton approach outperforms existing approaches, in particular in the presence of cluttered backgrounds, heterogeneous objects and partial occlusions.

Involved external institutions

Hochschule RheinMain / RheinMain University of Applied Sciences DE Germany (DE) Johannes Gutenberg-Universität Mainz (JGU) DE Germany (DE) Technische Universität München (TUM) DE Germany (DE)

How to cite

APA:

Tjaden, H., Schwanecke, U., Schoemer, E., & Cremers, D. (2019). A Region-Based Gauss-Newton Approach to Real-Time Monocular Multiple Object Tracking. IEEE Transactions on Pattern Analysis and Machine Intelligence, 41(8), 1797-1812. https://doi.org/10.1109/TPAMI.2018.2884990

MLA:

Tjaden, Henning, et al. "A Region-Based Gauss-Newton Approach to Real-Time Monocular Multiple Object Tracking." IEEE Transactions on Pattern Analysis and Machine Intelligence 41.8 (2019): 1797-1812.

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