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

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Authors Silvio Savarese, Roberto Martín-Martín, Yuke Zhu, Jun Lv, Chen Wang, Li Fei-Fei, Cewu Lu, Danfei Xu
Journal/Conference Name 2020 IEEE International Conference on Robotics and Automation (ICRA)
Paper Category
Paper 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 robot to perform simple vision-based closed-loop manipulation tasks. Our code and video are available at https//sites.google.com/view/6packtracking.
Date of publication 2019
Code Programming Language Multiple
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