Fusing Visual Appearance and Geometry for Multi-Modality 6DoF Object Tracking
Manuel Stoiber,Mariam Elsayed,Anne E. Reichert,Florian Steidle,Dongheui Lee,Rudolph Triebel,Manuel Stoiber,Mariam Elsayed,Anne E. Reichert,Florian Steidle,Dongheui Lee,Rudolph Triebel
In many applications of advanced robotic manipulation, six degrees of freedom (6DoF) object pose estimates are continuously required. In this work, we develop a multi-modality tracker that fuses information from visual appearance and geometry to estimate object poses. The algorithm extends our previous method ICG, which uses geometry, to additionally consider surface appearance. In general, object...
