ICK-Track: A Category-Level 6-DoF Pose Tracker Using Inter-Frame Consistent Keypoints for Aerial Manipulation

Jingtao Sun,Yaonan Wang,Mingtao Feng,Danwei Wang,Jiawen Zhao,Cyrill Stachniss,Xieyuanli Chen,Jingtao Sun,Yaonan Wang,Mingtao Feng,Danwei Wang,Jiawen Zhao,Cyrill Stachniss,Xieyuanli Chen

Robots that are supposed to interact with or manipulate objects in the world must be able to track the poses of objects in their sensor data. Thus, Detecting and tracking the 6-DoF poses of targeted objects is important for aerial manipulation and is still in the early stage due to the high dynamics and limited onboard capacity of such systems. In this paper, we propose ICK-Track, a novel method f...