REAL-TIME BAYESIAN 3D POSE TRACKING

Systems and methods are described for real-time Bayesian 3D pose tracking. In one implementation, exemplary systems and methods formulate key-frame based differential pose tracking in a probabilistic graphical model. An exemplary system receives live captured video as input and tracks a video object's 3D pose in real-time based on the graphical model. An exemplary Bayesian inter-frame motion inference technique simultaneously performs online point matching and pose estimation. This provides robust pose tracking because the relative pose estimate for a current frame is simultaneously estimated from two independent sources, from a key-frame pool and from the video frame preceding the current frame. Then, an exemplary online Bayesian frame fusion technique infers the current pose from the two independent sources, providing stable and drift-free tracking, even during agile motion, occlusion, scale change, and drastic illumination change of the tracked object.