6-PACK: Category-level 6D Pose Tracker with Anchor-Based Keypoints
Chen Wang,Roberto Martín-Martín,Danfei Xu,Jun Lv,Cewu Lu,Li Fei-Fei,Silvio Savarese,Yuke Zhu,Chen Wang,Roberto Martín-Martín,Danfei Xu,Jun Lv,Cewu Lu,Li Fei-Fei,Silvio Savarese,Yuke Zhu
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. Thes...
