论文标题
SE（3）上的累积B型计算的Jacobian计算，并应用于连续时间对象跟踪
Jacobian Computation for Cumulative B-Splines on SE(3) and Application to Continuous-Time Object Tracking
论文作者
论文摘要
在本文中，我们提出了一种方法，该方法从多个RGB-D视图中估算了场景中存在的动态刚性对象的$ SE（3）$连续轨迹（方向和翻译）。具体而言，我们将对象轨迹拟合到累积的B型曲线曲线，这些曲线使我们能够在任何中间时间戳记上插值，不仅是它们的姿势，而且还可以使它们的线性和角度速度和加速度插入。此外，我们在这项工作中得出了优化所需的分析$ SE（3）$ Jacobians，适用于使用此类曲线的任何其他方法。据我们所知，这是提出6-DOF连续时对象跟踪的第一项工作，由于我们的分析推导，我们以大幅度的计算成本降低来认可。我们在综合数据和公共基准中评估了我们的建议，与离散时间方法相比，在本地化和速度估计方面的竞争结果显着改善。
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.
