Keypoint-Based Category-Level Object Pose Tracking from an RGB Sequence with Uncertainty Estimation
Yunzhi Lin,Jonathan Tremblay,Stephen Tyree,Patricio A. Vela,Stan Birchfield,Yunzhi Lin,Jonathan Tremblay,Stephen Tyree,Patricio A. Vela,Stan Birchfield
We propose a single-stage, category-level 6-DoF pose estimation algorithm that simultaneously detects and tracks instances of objects within a known category. Our method takes as input the previous and current frame from a monocular RGB video, as well as predictions from the previous frame, to predict the bounding cuboid and 6- DoF pose (up to scale). Internally, a deep network predicts distributi...
