Scalable 3D Tracking of Multiple Interacting Objects





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Brief description

We consider the problem of tracking multiple interacting objects in 3D, using RGBD input and by considering a hypothesize-and-test approach. Due to their interaction, objects to be tracked are expected to occlude each other in the field of view of the camera observing them. A naive approach would be to employ a Set of Independent Trackers (SIT) and to assign one tracker to each object. This approach scales well with the number of objects but fails as occlusions become stronger due to their disjoint consideration. The solution representing the current state of the art employs a single Joint Tracker (JT) that accounts for all objects simultaneously. This directly resolves ambiguities due to occlusions but has a computational complexity that grows geometrically with the number of tracked objects. We propose a middle ground, namely an Ensemble of Collaborative Trackers (ECT) that combines best traits from both worlds to deliver a practical and accurate solution to the multi-object 3D tracking problem. We present quantitative and qualitative experiments with several synthetic and real world sequences of diverse complexity. Experiments demonstrate that ECT manages to track far more complex scenes than JT at a computational time that is only slightly larger than that of SIT.



The outline of the method


Sample results


See the supplementary material on youtube



         Nikolaos Kyriazis , Antonis Argyros.

         This work was partially supported by the EU-FP7 integrated projects robohow.cog and WEARHAP.



Relevant publications

         N. Kyriazis, AA. Argyros, Scalable 3D Tracking of Multiple Interacting Objects, IEEE Conference on Computer Vision and Pattern Recognition (CVPR 2014), Columbus, Ohio, USA, 24-27 June, 2014.


The electronic versions of the above publications can be downloaded from my publications page.


Last update:

31 March 2014, Antonis Argyros, argyros@ics.forth.gr