Real-time Monocular 6DoF Tracking of Textureless Objects using Photometrically-enhanced Edges

Lucas Valença, Luca Silva, Thiago Chaves, Arlindo Gomes, Lucas Figueiredo, Lucio Cossio, Sebastien Tandel, João Paulo Lima, João Paulo Lima, Francisco Simões, Francisco Simões, Veronica Teichrieb

2021

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.

Paper Citation

in Harvard Style

Valença L., Silva L., Chaves T., Gomes A., Figueiredo L., Cossio L., Tandel S., Lima J., Simões F. and Teichrieb V. (2021). Real-time Monocular 6DoF Tracking of Textureless Objects using Photometrically-enhanced Edges. In Proceedings of the 16th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2021) - Volume 5: VISAPP; ISBN 978-989-758-488-6, SciTePress, pages 763-773. DOI: 10.5220/0010348707630773

in Bibtex Style

@conference{visapp21,
author={Lucas Valença and Luca Silva and Thiago Chaves and Arlindo Gomes and Lucas Figueiredo and Lucio Cossio and Sebastien Tandel and João Paulo Lima and Francisco Simões and Veronica Teichrieb},
title={Real-time Monocular 6DoF Tracking of Textureless Objects using Photometrically-enhanced Edges},
booktitle={Proceedings of the 16th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2021) - Volume 5: VISAPP},
year={2021},
pages={763-773},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010348707630773},
isbn={978-989-758-488-6},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2021) - Volume 5: VISAPP
TI - Real-time Monocular 6DoF Tracking of Textureless Objects using Photometrically-enhanced Edges
SN - 978-989-758-488-6
AU - Valença L.
AU - Silva L.
AU - Chaves T.
AU - Gomes A.
AU - Figueiredo L.
AU - Cossio L.
AU - Tandel S.
AU - Lima J.
AU - Simões F.
AU - Teichrieb V.
PY - 2021
SP - 763
EP - 773
DO - 10.5220/0010348707630773
PB - SciTePress