Tracking 6-DoF Object Motion from Events and Frames

• URL: http://arxiv.org/abs/2103.15568v1
• Date: Mon, 29 Mar 2021 12:39:38 GMT
• Title: Tracking 6-DoF Object Motion from Events and Frames
• Authors: Haolong Li and Joerg Stueckler
• Abstract summary: We propose a novel approach for 6 degree-of-freedom (6-DoF)object motion tracking that combines measurements of eventand frame-based cameras.
• Score: 0.0
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Event cameras are promising devices for lowlatency tracking and high-dynamic range imaging. In this paper,we propose a novel approach for 6 degree-of-freedom (6-DoF)object motion tracking that combines measurements of eventand frame-based cameras. We formulate tracking from highrate events with a probabilistic generative model of the eventmeasurement process of the object. On a second layer, we refinethe object trajectory in slower rate image frames through directimage alignment. We evaluate the accuracy of our approach inseveral object tracking scenarios with synthetic data, and alsoperform experiments with real data.

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