119723 20240319081021.0 doi 10.1109/LRA.2022.3180427 sideral 129974 ART-2022-129974 eng Tirado, Javier Universidad de Zaragoza Jacobian Computation for Cumulative B-Splines on SE(3) and Application to Continuous-Time Object Tracking 2022 Access copy available to the general public Unrestricted In 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. info:eu-repo/semantics/openAccess by http://creativecommons.org/licenses/by/3.0/es/ 5.2 2022 ROBOTICS 10 / 30 = 0.333 2022 Q2 T2 1.693 2022 Artificial Intelligence 2022 Q1 Biomedical Engineering 2022 Q1 Computer Science Applications 2022 Q1 Mechanical Engineering 2022 Q1 Control and Optimization 2022 Q1 Control and Systems Engineering 2022 Q1 Human-Computer Interaction 2022 Q1 Computer Vision and Pattern Recognition 2022 Q1 7.6 2022 info:eu-repo/semantics/article info:eu-repo/semantics/acceptedVersion Civera, Javier Universidad de Zaragoza (orcid)0000-0003-1368-1151 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 7, 3 (2022), 7132-7139 IEEE Robot. autom. let. IEEE Robotics and Automation Letters 2377-3766 6116856 http://zaguan.unizar.es/record/119723/files/texto_completo.pdf Postprint 495222 http://zaguan.unizar.es/record/119723/files/texto_completo.jpg?subformat=icon icon Postprint oai:zaguan.unizar.es:119723 articulos driver 2024-03-18-16:11:27 ARTICLE