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Pose Tracking vs. Pose Estimation of AR Glasses with Convolutional, Recurrent, and Non-Local Neural Networks: A Comparison

Ahmet Firintepe; Sarfaraz Habib; Alain Pagani; Didier Stricker
In: Proceedings of. EuroXR International Conference (EuroXR-2021), November 24-26, Milan, Italy, MDPI, 2021.


In this paper, we analyze various outside-in approaches for pose tracking and pose estimation of AR glasses. We first provide two frame-by-frame pose estimation approaches. The first one is a VGGbased CNN, while the second method is the state-of-the-art, ResNetbased AR glasses pose estimation method named GlassPoseRN. We then introduce LSTMs in the mentioned approaches to achieve AR glasses pose tracking. We compare methods with and without non-local blocks, which are theoretically promising for Pose Tracking as they consider nonlocal neighbor features in one image and among multiple images. We further include separable convolutions in some networks for comparison, which focus on maintaining the individual channels and therefore the triple images. We train and evaluate seven different algorithms on the HMDPose dataset. We observe a significant boost on the dataset from pose estimation to tracking approaches. Non-local blocks do not improve our performance further. The introduction of separable convolutions in our recurrent networks results in the best performance with an estimation error of 0.81 degrees in orientation and 4.46 mm in position. We reduce the error compared to the state-of-the-art by 76%. Our results suggest a promising approach for more immersive AR content for AR glasses in the car context, as high a 6-DoF pose accuracy improves the superimposition of the real world with virtual elements.