Real-Time 3D Model Tracking in Color and Depth on a Single CPU Core

TL;DR

This paper introduces a fast, robust 3D model tracking method using color and depth data that operates efficiently on a single CPU core, significantly outperforming existing techniques in speed while maintaining accuracy.

Contribution

The authors develop a novel, accelerated region-based tracking approach that is more robust with depth data and can run in real-time on a single CPU core.

Findings

Achieves an order of magnitude faster tracking than previous methods

Maintains similar accuracy to state-of-the-art approaches

Operates efficiently on a single CPU core

Abstract

We present a novel method to track 3D models in color and depth data. To this end, we introduce approximations that accelerate the state-of-the-art in region-based tracking by an order of magnitude while retaining similar accuracy. Furthermore, we show how the method can be made more robust in the presence of depth data and consequently formulate a new joint contour and ICP tracking energy. We present better results than the state-of-the-art while being much faster then most other methods and achieving all of the above on a single CPU core.