MER-Tracker: Towards High-Speed 3D Point Tracking via Multi-View Event-RGB Hybrid Cameras

摘要

This paper proposes the first task for high-speed 3D point tracking using multi-view Event-RGB hybrid cameras. We design a cuboid observation device comprising 4 RGB cameras (30fps) and 2 Event cameras to synchronously capture high-speed motions, and propose MER-Tracker, a high-frame-rate 3D point-tracking network that fuses the complementary strengths of dual modalities. We first respectively extract 2D motion-change features from the RGB and Event modalities, then apply linear interpolation and anchor sampling to fuse the discrete RGB 3D features and continuous Event 3D features after 3D lifting, and finally employ a LoRA-tuned Transformer based on temporal correlationship to predict the high-frame-rate 3D point trajectories over fast motions, accomplishing high-speed 3D point tracking. To verify the effectiveness of our method, we construct both real-world and simulated high-speed motion datasets. Experiments on these datasets show that our method achieves accurate high-speed 3D point tracking at high-frame-rate (150fps), outperforming state-of-the-art methods.