Sub-Frame Appearance and 6D Pose Estimation of Fast Moving Objects

Figure 1: Estimation of appearance, shape and 6D pose (3D position and rotation) of fast moving objects. The input video and 2D trajectories estimated by Non-Causal Tracking by Deblatting, TbD-NC [14], are processed by the proposed piecewise deblatting that generates, with sub-frame temporal resolution, the object appearance and shape (snapshots), from which the complete 6-DOF trajectory is estimated.