000119723 001__ 119723
000119723 005__ 20240319081021.0
000119723 0247_ $$2doi$$a10.1109/LRA.2022.3180427
000119723 0248_ $$2sideral$$a129974
000119723 037__ $$aART-2022-129974
000119723 041__ $$aeng
000119723 100__ $$aTirado, Javier$$uUniversidad de Zaragoza
000119723 245__ $$aJacobian Computation for Cumulative B-Splines on SE(3) and Application to Continuous-Time Object Tracking
000119723 260__ $$c2022
000119723 5060_ $$aAccess copy available to the general public$$fUnrestricted
000119723 5203_ $$aIn this paper we propose a method that estimates the SE(3) continuous trajectories (orientation and translation) of the dynamic rigid objects present in a scene, from multiple RGB-D views. Specifically, we fit the object trajectories to cumulative B-Splines curves, which allow us to interpolate, at any intermediate time stamp, not only their poses but also their linear and angular velocities and accelerations. Additionally, we derive in this work the analytical SE(3) Jacobians needed by the optimization, being applicable to any other approach that uses this type of curves. To the best of our knowledge this is the first work that proposes 6-DoF continuous-time object tracking, which we endorse with significant computational cost reduction thanks to our analytical derivations. We evaluate our proposal in synthetic data and in a public benchmark, showing competitive results in localization and significant improvements in velocity estimation in comparison to discrete-time approaches. © 2016 IEEE.
000119723 540__ $$9info:eu-repo/semantics/openAccess$$aby$$uhttp://creativecommons.org/licenses/by/3.0/es/
000119723 590__ $$a5.2$$b2022
000119723 592__ $$a1.693$$b2022
000119723 591__ $$aROBOTICS$$b10 / 30 = 0.333$$c2022$$dQ2$$eT2
000119723 593__ $$aArtificial Intelligence$$c2022$$dQ1
000119723 593__ $$aBiomedical Engineering$$c2022$$dQ1
000119723 593__ $$aComputer Science Applications$$c2022$$dQ1
000119723 593__ $$aMechanical Engineering$$c2022$$dQ1
000119723 593__ $$aControl and Optimization$$c2022$$dQ1
000119723 593__ $$aControl and Systems Engineering$$c2022$$dQ1
000119723 593__ $$aHuman-Computer Interaction$$c2022$$dQ1
000119723 593__ $$aComputer Vision and Pattern Recognition$$c2022$$dQ1
000119723 594__ $$a7.6$$b2022
000119723 655_4 $$ainfo:eu-repo/semantics/article$$vinfo:eu-repo/semantics/acceptedVersion
000119723 700__ $$0(orcid)0000-0003-1368-1151$$aCivera, Javier$$uUniversidad de Zaragoza
000119723 7102_ $$15007$$2520$$aUniversidad de Zaragoza$$bDpto. Informát.Ingenie.Sistms.$$cÁrea Ingen.Sistemas y Automát.
000119723 773__ $$g7, 3 (2022), 7132-7139$$pIEEE Robot. autom. let.$$tIEEE Robotics and Automation Letters$$x2377-3766
000119723 8564_ $$s6116856$$uhttps://zaguan.unizar.es/record/119723/files/texto_completo.pdf$$yPostprint
000119723 8564_ $$s495222$$uhttps://zaguan.unizar.es/record/119723/files/texto_completo.jpg?subformat=icon$$xicon$$yPostprint
000119723 909CO $$ooai:zaguan.unizar.es:119723$$particulos$$pdriver
000119723 951__ $$a2024-03-18-16:11:27
000119723 980__ $$aARTICLE