Robust 3D Object Tracking from Monocular Images Using Stable Parts.

We present an algorithm for estimating the pose of a rigid object in real-time under challenging conditions. Our method effectively handles poorly textured objects in cluttered, changing environments, even when their appearance is corrupted by large occlusions, and it relies on grayscale images to handle metallic environments on which depth cameras would fail. As a result, our method is suitable f...