LAUSR

Region-based methods are currently achieving state-of-the-art performance for monocular 3D object tracking. However, they are still prone to fail in cases of partial occlusions and ambiguous colors. We propose a novel region-based method to tackle these problems. The key idea is to derive a pixel-wise weighted region-based cost function using contour constraints. Firstly, we propose a novel region-based cost function using search lines around the object contour, which is more efficient than previous region-based cost functions using signed distance transform, and in the meantime can deal with partial occlusions and ambiguous colors more effectively. Secondly, we propose an optimal searching strategy to search the object contour points in cluttered scenes, and then use the object contour points to detect partial occlusions and ambiguous colors. Thirdly, we propose a pixel-wise weight function based on color and distance constraints of the object contour points, and integrate it into the proposed region-based cost function to reduce the negative impact of partial occlusions and ambiguous colors. We verify the effectiveness and efficiency of our method on challenging public datasets. Experiments demonstrate that our method outperforms the recent state-of-the-art region-based methods in complex scenarios, especially in the presence of partial occlusions and ambiguous colors.