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Authors: Georgios Chliveros 1 ; Rui P. Figueiredo 2 ; Plinio Moreno 2 ; Maria Pateraki 1 ; Alexandre Bernardino 2 ; Jose Santos-Victor 2 and Panos Trahanias 1

Affiliations: 1 Foundation for Research and Technology Hellas, Greece ; 2 Instituto Superior Tecnico, Portugal

Keyword(s): Object Tracking, Object Detection, Relative Pose Estimation, Robot Vision.

Related Ontology Subjects/Areas/Topics: Active and Robot Vision ; Applications ; Computer Vision, Visualization and Computer Graphics ; Motion, Tracking and Stereo Vision ; Pattern Recognition ; Robotics ; Software Engineering ; Tracking and Visual Navigation

Abstract: In this paper we present a framework for the estimation of the pose of an object in 3D space: from the detection and subsequent recognition from a 3D point-cloud, to tracking in the 2D camera plane. The detection process proposes a way to remove redundant features, which leads to significant computational savings without affecting identification performance. The tracking process introduces a method that is less sensitive to outliers and is able to perform in soft real-time. We present preliminary results that illustrate the effectiveness of the approach both in terms of accuracy and computational speed.

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Paper citation in several formats:
Chliveros, G.; P. Figueiredo, R.; Moreno, P.; Pateraki, M.; Bernardino, A.; Santos-Victor, J. and Trahanias, P. (2014). A Framework for 3D Object Identification and Tracking. In Proceedings of the 9th International Conference on Computer Vision Theory and Applications (VISIGRAPP 2014) - Volume 3: VISAPP; ISBN 978-989-758-009-3; ISSN 2184-4321, SciTePress, pages 672-677. DOI: 10.5220/0004751506720677

@conference{visapp14,
author={Georgios Chliveros. and Rui {P. Figueiredo}. and Plinio Moreno. and Maria Pateraki. and Alexandre Bernardino. and Jose Santos{-}Victor. and Panos Trahanias.},
title={A Framework for 3D Object Identification and Tracking},
booktitle={Proceedings of the 9th International Conference on Computer Vision Theory and Applications (VISIGRAPP 2014) - Volume 3: VISAPP},
year={2014},
pages={672-677},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004751506720677},
isbn={978-989-758-009-3},
issn={2184-4321},
}

TY - CONF

JO - Proceedings of the 9th International Conference on Computer Vision Theory and Applications (VISIGRAPP 2014) - Volume 3: VISAPP
TI - A Framework for 3D Object Identification and Tracking
SN - 978-989-758-009-3
IS - 2184-4321
AU - Chliveros, G.
AU - P. Figueiredo, R.
AU - Moreno, P.
AU - Pateraki, M.
AU - Bernardino, A.
AU - Santos-Victor, J.
AU - Trahanias, P.
PY - 2014
SP - 672
EP - 677
DO - 10.5220/0004751506720677
PB - SciTePress

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