The official implemenation of "Real-Time Object Pose Tracking System With Low Computational Cost for Mobile Devices" in IEEE Journal of Indoor and Seamless Positioning and Navigation, 2023.

Using Xcode:

1. Download OpenCV v3.4.14.
2. Open the project of FrontendTracking.xcodeproj.
3. Relink the lib of OpenCV to the project.
4. Compile and get FrontendTracking.exe.

1. Put trackingSetting .txt with FrontendTracking.exe in the same folder (basePath).

trackingSetting.txt contains one line of the tracking starting time and duration in the format of “start_time (in second) duration (in second)”. For example, “3 30” means the program will ignore the data before 3 seconds, and then keeps tracking for 30 seconds after 3 seconds.

2. Run “FrontendTracking.exe” in the format of:

./FrontendTracking.exe $datasetPath 1 $frameRate $imuRate 1 0 0 1 0 0 $extraDelay

For example:

./FrontendTracking.exe ./ LCCODS/cat-1/ 1 52 200 1 0 0 1 0 0 30

The arguments are listed as follows.

• 1st parameter (datasetPath): the file path of tracking dataset (with LCCODS)
• 2nd parameter: the mode of program, the default is 1 for tracking.
• 3rd parameter (frameRate): the tracking frame rate
• 4th parameter (imuRate): the IMU sample rate
• 5th parameter: if the tracking is asynchronous?
• 6th parameter: if the backend pose (ground truth) is needed to add random noise?
• 7th parameter: if the pose updated with IMU data by RK4?
• 8th parameter: if the BSCM is on?
• 9th parameter: if the BSCM only corrects the system velocity?
• 10th parameter: if extraDelay is fixed-added?
• 11th parameter (extraDelay): the extra delay in networking

You can find two files of tracking pose and error in basePath.

1. tracking_pose.txt: It contains the tracking pose corresponding with the frame. The format is “frame_name t.x t.y t.z e.x e.y e.z GT.t.x GT.t.y GT.t.z GT.e.x GT.e.y GT.e.z isPassedbyPCM”.

• t means the translation in pose.
• e means the Euler angle in pose.
• GT means the ground truth.

2. tracking_error.txt: It contains the tracking pose error corresponding with the frame. The format is “frame_index error_2d error_t error_t.x error_t.y error_t.z error_e error_e.x error_e.y error_e.z isPassedbyPCM”.

• error_2d means the 2d projection error.
• error_t means the translation error in pose.
• error_e means the Euler angle error in pose.

If you find this research helpful, please cite it as

@article{LCCobjpose,
  author={Lau, Yo-Chung and Tseng, Kuan-Wei and Kao, Peng-Yuan and Hsieh, I-Ju and Tseng, Hsiao-Ching and Hung, Yi-Ping},
  journal={IEEE Journal of Indoor and Seamless Positioning and Navigation}, 
  title={Real-Time Object Pose Tracking System With Low Computational Cost for Mobile Devices}, 
  year={2023},
  volume={1},
  number={},
  pages={211-220},
  doi={10.1109/JISPIN.2023.3340987}}