Simultaneous 3D Motion Detection, Long-Term Tracking and Model Reconstruction for Multi-Objects

Motion detection and object tracking play important roles in unsupervised human–machine interaction systems. Nevertheless, the human–machine interaction would become invalid when the system fails to detect the scene objects correctly due to occlusion and limited field of view. Thus, robust long-term tracking of scene objects is vital. In this paper, we present a 3D motion detection and long-term tracking system with simultaneous 3D reconstruction of dynamic objects. In order to achieve the high precision motion detection, an optimization framework with a novel motion pose estimation energy function is provided in the proposed method by which the 3D motion pose of each object can be estimated independently. We also develop an accurate object-tracking method which combines 2D visual information and depth. We incorporate a novel boundary-optimization segmentation based on 2D visual information and depth to improve the robustness of tracking significantly. Besides, we also introduce a new fusion and updating strategy in the 3D reconstruction process. This strategy brings higher robustness to 3D motion detection. Experiments results show that, for synthetic sequences, the root-mean-square error (RMSE) of our system is much smaller than Co-Fusion (CF); our system performs extremely well in 3D motion detection accuracy. In the case of occlusion or out-of-view on real scene data, CF will suffer the loss of tracking or object-label changing, by contrast, our system can always keep the robust tracking and maintain the correct labels for each dynamic object. Therefore, our system is robust to occlusion and out-of-view application scenarios.