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dc.contributor.authorHusain, Syed Farzad
dc.contributor.authorDellen, Babette Karla Margarete
dc.contributor.authorTorras, Carme
dc.contributor.otherUniversitat Politècnica de Catalunya. Institut de Robòtica i Informàtica Industrial
dc.date.accessioned2015-07-21T13:12:57Z
dc.date.available2015-07-21T13:12:57Z
dc.date.created2014
dc.date.issued2014
dc.identifier.citationHusain, S., Dellen, B., Torras, C. Robust surface tracking in range image sequences. "Digital signal processing", 2014, p. 37-44.
dc.identifier.issn1051-2004
dc.identifier.urihttp://hdl.handle.net/2117/76255
dc.description.abstractA novel robust method for surface tracking in range-image sequences is presented which combines a clustering method based on surface models with a particle-filter-based 2-D affine-motion estimator. Segmented regions obtained at previous time steps are used to create seed areas by comparing measured depth values with those obtained from surface-model fitting. The seed areas are further refined using a motion-probability region estimated by the particle-filter-based tracker through prediction of future states. This helps resolving ambiguities that arise when surfaces belonging to different objects are in physical contact with each other, for example during hand-object manipulations. Region growing allows recovering the complete segment area. The obtained segmented regions are then used to improve the predictions of the tracker for the next frame. The algorithm runs in quasi real-time and uses on-line learning, eliminating the need to have a priori knowledge about the surface being tracked. We apply the method to in-house depth videos acquired with both time-of-flight and structured-light sensors, demonstrating object tracking in real-world scenarios, and we compare the results with those of an ICP-based tracker. (C) 2014 Elsevier Inc. All rights reserved.
dc.format.extent8 p.
dc.language.isoeng
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.otherRange video
dc.subject.otherSurface fitting
dc.subject.otherTracking
dc.subject.otherSegmentation
dc.subject.othervisual tracking
dc.subject.otherobject tracking
dc.subject.other3D
dc.subject.otherregistration
dc.subject.otherEM
dc.titleRobust surface tracking in range image sequences
dc.typeArticle
dc.contributor.groupUniversitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
dc.identifier.doi10.1016/j.dsp.2014.09.011
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Automation::Robots::Robot vision
dc.relation.publisherversionhttp://www.sciencedirect.com/science/article/pii/S1051200414002863
dc.rights.accessOpen Access
drac.iddocument15344999
dc.description.versionPostprint (author’s final draft)
dc.relation.projectidinfo:eu-repo/grantAgreement/EC/FP7/269959/EU/Intelligent observation and execution of Actions and manipulations/INTELLACT
upcommons.citation.authorHusain, S., Dellen, B., Torras, C.
upcommons.citation.publishedtrue
upcommons.citation.publicationNameDigital signal processing
upcommons.citation.volume35
upcommons.citation.startingPage37
upcommons.citation.endingPage44


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