Egocentric Object Tracking: An Odometry-Based Solution

Tracking objects moving around a person is one of the key steps in human visual augmentation: we could estimate their locations when they are out of our field of view, know their position, distance or velocity just to name a few possibilities. This is no easy task: in this paper, we show how current state-of-the-art visual tracking algorithms fail if challenged with a first-person sequence recorded from a wearable camera attached to a moving user. We propose an evaluation that highlights these algorithms' limitations and, accordingly, develop a novel approach based on visual odometry and 3D localization that overcomes many issues typical of egocentric vision. We implement our algorithm on a wearable board and evaluate its robustness, showing in our preliminary experiments an increase in tracking performance of nearly 20\% if compared to currently state-of-the-art techniques