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An hardware architecture for 3D object tracking and motion estimation

Patrick Lanvin, Jean-Charles Noyer, Mohammed Benjelloun
Laboratoire d’Analyse des Systemes du Littoral, Universite du Littoral Cote d’Opale, 50 Rue Ferdinand Buisson, B.P. 699, 62228 Calais Cedex, France
IEEE International Conference on Multimedia and Expo, 2005. ICME 2005.

@conference{lanvin2005hardware,

   title={An hardware architecture for 3d object tracking and motion estimation},

   author={Lanvin, P. and Noyer, J.C. and Benjelloun, M.},

   booktitle={Multimedia and Expo, 2005. ICME 2005. IEEE International Conference on},

   pages={4},

   isbn={0780393317},

   year={2005},

   organization={IEEE}

}

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We present a method to track and estimate the motion of a 3D object with a monocular image sequence. The problem is based on the state equations and is solved by a sequential Monte Carlo method. The method uses a CAD model of the object whose projection can be compared directly with the pixels of the image. The advantage is to obtain a better accuracy and a direct estimation of the pose and motion in the 3D world. However, this algorithm needs a massive load in computing. For real-time use, we develop in this paper a distributed algorithm that dispatches the processing between the central processing unit (CPU) and the graphics processing unit (GPU) of a consumer-market computer. Some experimental results show that it is possible to obtain an accurate 3D tracking of the object with low computing costs.
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