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BAO



BAO: A REAL-WORLD BENCHMARK FOR TRACKING ARTICULATED OBJECTS



ABSTRACT

Articulated objects are important and populated in everyday life. The research
on visual analysis of the articulated objects such as pose estimation, tracking
and reconstruction draws more and more attention from different communities.
However, though progress has been made on the algorithmic side, the community
still lacks a large-scale real-world benchmark. To fill the absence, we propose
a real-world benchmark BAO for visual analysis of articulated objects. When
constructing the dataset, the high degree of freedom (DOF) nature of the
articulated structure can make the annotation exhaustive. To relieve the burden,
we propose a visual-inertial tracking system named VIAT, which can drastically
accelerate the annotation process by 300 folds. The VIAT system consists of
proposed wireless active markers MarkIt, a dual-camera recorder and a data
acquisition suite. It can easily be made portable so that we can track the
object even in the outdoor scenes. Extensive experiments show that the MarkIt
attached to the object part has no significant influence on perception models.
Thus we can use a model trained on the data with a marker directly to
marker-less unseen objects. We also provide many baseline models on BAO, and
hope it can serve as a platform for future research on visual articulated object
analysis.




Dataset, models, code, and hardware design drawings will be made publicly
available.

MARKIT

The MarkIt has double-sided PCB with IMU and infrared (IR) LED on one side and
Wi-Fi transceiver on the other side, and the battery. The infrared LED can be
connected horizontally or vertically.

The MarkIt uses an ESP32S chip made by Espressif and a HI229 inertial
measurement unit made by HIPNUC. It supports the connection of a 3.7v lithium
battery and an IR LED through 2Pin connectors.



PCB DESIGN

Download PCB Dessign



PORTABLE VIAT SYSTEM

The VIAT system has a dual-camera recorder which is composed of an Intel
Realsense L515 and D435. In the portable setting, we manage to minify the data
acquisition suite by adopting a mobile AP and router for network connection and
a laptop to control the MarkIt and the dual-camera recorder. Thus, it can be
wrapped in a backpack. The mobile power supply can support the whole system
working for 2 hours.




DATA SAMPLES






































Submission of ECCV 2022

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