AN HARDWARE ARCHITECTURE FOR 3D OBJECT TRACKING AND MOTION ESTIMATION (ThuPmOR3)

Author(s) : Patrick Lanvin (LASL-ULCO, France) Jean-Charles Noyer (LASL-ULCO, France) Mohammed Benjelloun (LASL-ULCO, France)

Abstract : We present an algorithm 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 precision and a direct estimation of the pose and motion in the 3D world. However, this algorithm needs an important computing load. To consider a real-time use, we propose to dispatch the processing between the Central Processing Unit and the graphics Processing Unit of a consumer-market computer. Results show that it is possible to obtain an accurate 3D tracking of the object under low computing costs.

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