se(3)-TrackNet: Data-driven 6D Pose Tracking by Calibrating Image Residuals in Synthetic Domains
Bowen Wen,Chaitanya Mitash,Baozhang Ren,Kostas E. Bekris,Bowen Wen,Chaitanya Mitash,Baozhang Ren,Kostas E. Bekris
Tracking the 6D pose of objects in video sequences is important for robot manipulation. This task, however, introduces multiple challenges: (i) robot manipulation involves significant occlusions; (ii) data and annotations are troublesome and difficult to collect for 6D poses, which complicates machine learning solutions, and (iii) incremental error drift often accumulates in long term tracking to ...
