Abstract
The problem of model-based object tracking in three dimensions is addressed. Most previous work on tracking assumes simple motion models, and consequently tracking typically fails in a variety of situations. Our insight is that incorporating physics models of object behaviour improves tracking performance in these cases. In particular it allows us to handle tracking in the face of rigid body interactions where there is also occlusion and fast object motion. We show how to incorporate rigid body physics simulation into a particle filter. We present two methods for this based on pose and force noise. The improvements are tested on four videos of a robot pushing an object, and results indicate that our approach performs considerably better than a plain particle filter tracker, with the force noise method producing the best results over the range of test videos.
Original language | English |
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Title of host publication | 2011 IEEE International Conference on Robotics and Automation (ICRA) |
Publisher | Institute of Electrical and Electronics Engineers (IEEE) |
Pages | 5218-5225 |
Number of pages | 8 |
ISBN (Print) | 978-1-61284-386-5 |
DOIs | |
Publication status | Published - 13 May 2011 |
Event | 2011 IEEE International Conference on Robotics and Automation (ICRA) - Shanghai, China Duration: 9 May 2011 → 13 May 2011 |
Conference
Conference | 2011 IEEE International Conference on Robotics and Automation (ICRA) |
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Country/Territory | China |
City | Shanghai |
Period | 9/05/11 → 13/05/11 |