publication . Preprint . 2019

6-PACK: Category-level 6D Pose Tracker with Anchor-Based Keypoints

Wang, Chen; Martín-Martín, Roberto; Xu, Danfei; Lv, Jun; Lu, Cewu; Fei-Fei, Li; Savarese, Silvio; Zhu, Yuke;
Open Access English
  • Published: 23 Oct 2019
Abstract
We present 6-PACK, a deep learning approach to category-level 6D object pose tracking on RGB-D data. Our method tracks in real-time novel object instances of known object categories such as bowls, laptops, and mugs. 6-PACK learns to compactly represent an object by a handful of 3D keypoints, based on which the interframe motion of an object instance can be estimated through keypoint matching. These keypoints are learned end-to-end without manual supervision in order to be most effective for tracking. Our experiments show that our method substantially outperforms existing methods on the NOCS category-level 6D pose estimation benchmark and supports a physical robo...
Subjects
free text keywords: Computer Science - Computer Vision and Pattern Recognition, Computer Science - Robotics
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