Jacobian Computation for Cumulative B-Splines on SE(3) and Application to Continuous-Time Object Tracking

Tirado, Javier (Universidad de Zaragoza) ; Civera, Javier (Universidad de Zaragoza)

Resumen: 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.

Idioma: Inglés

DOI: 10.1109/LRA.2022.3180427

Año: 2022

Publicado en: IEEE Robotics and Automation Letters 7, 3 (2022), 7132-7139
ISSN: 2377-3766

Factor impacto JCR: 5.2 (2022)

Categ. JCR: ROBOTICS rank: 10 / 30 = 0.333 (2022) - Q2 - T2

Factor impacto CITESCORE: 7.6 - Engineering (Q1) - Mathematics (Q1) - Computer Science (Q1)

Factor impacto SCIMAGO: 1.693 - Artificial Intelligence (Q1) - Biomedical Engineering (Q1) - Computer Science Applications (Q1) - Mechanical Engineering (Q1) - Control and Optimization (Q1) - Control and Systems Engineering (Q1) - Human-Computer Interaction (Q1) - Computer Vision and Pattern Recognition (Q1)

Tipo y forma: Article (PostPrint)

Área (Departamento): Área Ingen.Sistemas y Automát. (Dpto. Informát.Ingenie.Sistms.)