chanchanhan/robot

RegiOn-Based Object Tracking

ROBOT:RegiOn Based Object Tracking

DataSet:

Algorithm:

1. Projecting vertices to image plane
2. Finding contour of the projected in current frame.
3. Segment the current Frame
4. Sample vertices near to contour.
5. Statistic the histogram of the region around vertices
6. Compute posterior and draw statistic img.
7. Compute and optimize the enery fuction.

Libs:

• Eigen
• Sophus: pose processing
• Opencv: img processing
• glog

Interfaces:

1. LoadImg(File *file,Type type); 
2. GettingContour(Model model,Frame frame); 
3. GettingVerticesNearToContour(Model model,Contour contour); 
4. UpdateHistorgram(Frame curFrame,VerticesNearToContour)
5. ComputePosterior(Histogram historgram);
6. ....(Energy Optimization)

Datastructure

class Frame
{ 
    cv::Mat *img; 
    SE3D dpose; 
    SE3D grondTruthPose; 
    unsigned int index;
}