Web: http://arxiv.org/abs/2201.10602

Jan. 27, 2022, 2:10 a.m. | Javier Tirado, Javier Civera

cs.CV updates on arXiv.org arxiv.org

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 …

application arxiv cv time tracking

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