Abstract
We present a novel method to track 3D models in color
and depth data. To this end, we introduce approximations
that accelerate the state-of-the-art in region-based tracking
by an order of magnitude while retaining similar accuracy.
Furthermore, we show how the method can be made more
robust in the presence of depth data and consequently formulate a new joint contour and ICP tracking energy. We
present better results than the state-of-the-art while being
much faster then most other methods and achieving all of
the above on a single CPU core