Chen Wang, Roberto Martín-Martín, Danfei Xu, Jun Lv

Cewu Lu, Li Fei-Fei, Silvio Savarese, Yuke Zhu

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.

• Preprint: available on arXiv
• Code: available on Github

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