Damien Jade Duff, Thomas Morwald, Rustam Stolkin and Jeremy Wyatt.
Physical simulation for monocular 3D model based tracking.
In IEEE International Conference on Robotics and Automation (ICRA), IEEE.
The problem of model-based object tracking in
three dimensions is addressed. Most previous work on tracking
assumes simple motion models, and consequently tracking
typically fails in a variety of situations. Our insight is that
incorporating physics models of object behaviour improves
tracking performance in these cases. In particular it allows us
to handle tracking in the face of rigid body interactions where
there is also occlusion and fast object motion. We show how to
incorporate rigid body physics simulation into a particle filter.
We present two methods for this based on pose and force noise.
The improvements are tested on four videos of a robot pushing
an object, and results indicate that our approach performs
considerably better than a plain particle filter tracker, with the
force noise method producing the best results over the range
of test videos.
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