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JuliaImages / ImageTracking.jl

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FYI SensorFeatureTracking.jl, maybe good overlap #17

Open dehann opened 5 years ago

dehann commented 5 years ago

Hi,

Just wanted to mention work on KLT tracking from a few months back, but we have been bad about tagging and upkeep. Just wanted to share in case you had not seen this before -- package is through initial development but not registered yet: https://github.com/JuliaRobotics/SensorFeatureTracking.jl

Let us know if you have any preference for future work etc. Robotics really likes to use KLT, and we were thinking about reaching out to JuliaImages but hadn't gotten so far. Probably better to have images code in JuliaImages and then JuliaRobotics can import and build on that?

I think we would want to build out things like 2D and 3D point cloud tracking; various camera feature tracking methods; etc. I would like to combine the code with filtering and estimation frameworks, and start down the path of data-fusion, but this will take a good while to happen. The original idea behind SensorFeatureTracking was anything in scope of tracking (such as this early 2D laser scanner Vimeo)

AprilTags.jl might also be of interest.

Thanks for putting this out there -- very cool! Maybe we can move the conversation if there is a better venue?

cc @Affie, @AndreHat, @rdeits, @pvazteixeira

zygmuntszpak commented 5 years ago

Hi,

thanks for pointing out the SensorFeatureTracking package. I reckon that it does make sense to have the image code in JuliaImages and have JuliaRobotics import and build on that.

I would like to implement several other optical flow algorithms, and would like to continue to improve the runtime performance of the pyramidal KLT-based optical flow tracker. The next thing that I intend to work on in this package is a pyramid version of the Farneback optical flow algorithm.

I also envisage GPU-based implementations of these algorithms. I would really like to see something that runs close to real-time so that it can be of practical use in robotics applicatons.

@arijitkar98 is working on bringing the medianflow implementation up-to-speed as well as several other region-based 2D trackers.

Something else that is package desperately needs are some implementations of data association algorithms to facilitate multi-target tracking,for example, this paper.

I am currently also working on a MultipleViewGeometry package which aims to replicate the functionality in Matlab's Camera Calibration and 3D Vision, but also goes beyond what is in that package. It might serve as a useful complement your Ceaser.jl package.