  We propose a novel method that tracks fast moving objects, mainly non-uniform
spherical, in full 6 degrees of freedom, estimating simultaneously their 3D
motion trajectory, 3D pose and object appearance changes with a time step that
is a fraction of the video frame exposure time. The sub-frame object
localization and appearance estimation allows realistic temporal
super-resolution and precise shape estimation. The method, called TbD-3D
(Tracking by Deblatting in 3D) relies on a novel reconstruction algorithm which
solves a piece-wise deblurring and matting problem. The 3D rotation is
estimated by minimizing the reprojection error. As a second contribution, we
present a new challenging dataset with fast moving objects that change their
appearance and distance to the camera. High speed camera recordings with zero
lag between frame exposures were used to generate videos with different frame
rates annotated with ground-truth trajectory and pose.
