Real-time shape of moving 3D object and 6-DoF tracking using neural object field with BundleSDF
Real-time shape of moving 3D object and 6-DoF tracking using neural object field with BundleSDF
BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objects
arXiv paper abstract https://arxiv.org/abs/2303.14158
arXiv PDF paper https://arxiv.org/pdf/2303.14158.pdf
Project page https://bundlesdf.github.io
... present a near real-time method for 6-DoF tracking of an unknown object from a monocular RGBD video sequence, while simultaneously performing neural 3D reconstruction of the object.
... method works for arbitrary rigid objects, even when visual texture is largely absent.
The object is assumed to be segmented in the first frame only. No additional information is required, and no assumption is made about the interaction agent.
Key to ... method is a Neural Object Field that is learned concurrently with a pose graph optimization process in order to robustly accumulate information into a consistent 3D representation capturing both geometry and appearance.
... approach handles challenging sequences with large pose changes, partial and full occlusion, untextured surfaces, and specular highlights.
... method significantly outperforms existing approaches.
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