Authors:
Thiusius Rajeeth Savarimuthu
1
;
Jeremie Papon
2
;
Anders Glent Buch
1
;
Eren Erdal Aksoy
2
;
Wail Mustafa
1
;
Florentin Wörgötter
2
and
Norbert Krüger
1
Affiliations:
1
University of Southern Denmark, Denmark
;
2
Georg-August-Universität Göttingen, Germany
Keyword(s):
Tracking, Monitoring, Robotics.
Related
Ontology
Subjects/Areas/Topics:
Applications
;
Computer Vision, Visualization and Computer Graphics
;
Motion, Tracking and Stereo Vision
;
Pattern Recognition
;
Robotics
;
Software Engineering
;
Tracking and Visual Navigation
;
Video Surveillance and Event Detection
Abstract:
We present an integrated system for the recognition, pose estimation and simultaneous tracking of multiple objects in 3D scenes. Our target application is a complete semantic representation of dynamic scenes which requires three essential steps; recognition of objects, tracking their movements, and identification of interactions between them. We address this challenge with a complete system which uses object recognition and pose estimation to initiate object models and trajectories, a dynamic sequential octree structure to allow for full 6DOF tracking through occlusions, and a graph-based semantic representation to distil interactions. We evaluate the proposed method on real scenarios by comparing tracked outputs to ground truth part trajectories and compare the results to Iterative Closest Point and Particle Filter based trackers.