6-PACK: Category-level 6D Pose Tracker with Anchor-Based Keypoints
ICRA, pp. 10059-10066, 2019.
We present 6-PACK, a deep learning approach to category-level 6D object pose tracking on RGB-D data. Our method tracks in real-time novel object instances of known object categories such as bowls, laptops, and mugs. 6-PACK learns to compactly represent an object by a handful of 3D keypoints, based on which the interframe motion of an ob...More
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