We propose a novel method that tracks fast moving objects, mainly non-uniform
spherical, in full 6 degrees of freedom, estimating simultaneously their 3D
motion trajectory, 3D pose and object appearance changes with a time step that
is a fraction of the video frame exposure time. The sub-frame object
localization and appearance estimation allows realistic temporal
super-resolution and precise shape estimation. The method, called TbD-3D
(Tracking by Deblatting in 3D) relies on a novel reconstruction algorithm which
solves a piece-wise deblurring and matting problem. The 3D rotation is
estimated by minimizing the reprojection error. As a second contribution, we
present a new challenging dataset with fast moving objects that change their
appearance and distance to the camera. High speed camera recordings with zero
lag between frame exposures were used to generate videos with different frame
rates annotated with ground-truth trajectory and pose.

本论文提出了一种名为 TbD-3D 的方法，可以同时跟踪快速运动的非均匀球形物体的 3D 运动轨迹、3D 姿态和物体外观变化，并提出了一组新的具有挑战性的数据集，用于验证该方法。

高速运动物体的子框外观与 6D 姿态估计

Sub-frame Appearance and 6D Pose Estimation of Fast Moving Objects

Augmented Reality (AR) brings immersive experiences to users. With recent
advances in computer vision and mobile computing, AR has scaled across
platforms, and has increased adoption in major products. One of the key
challenges in enabling AR features is proper anchoring of the virtual content
to the real world, a process referred to as tracking. In this paper, we present
a system for motion tracking, which is capable of robustly tracking planar
targets and performing relative-scale 6DoF tracking without calibration. Our
system runs in real-time on mobile phones and has been deployed in multiple
major products on hundreds of millions of devices.

本文介绍了一种基于移动设备的增强现实应用程序中的运动跟踪系统，该系统可以在无需标定的情况下进行稳健的平面目标跟踪和相对比例 6DoF 跟踪，该系统已在数亿个设备上部署，并应用于多个主要产品中。