6-PACK: Category-level 6D Pose Tracker with Anchor-Based Keypoints

23 Oct 2019Chen WangRoberto Martín-MartínDanfei XuJun LvCewu LuLi Fei-FeiSilvio SavareseYuke Zhu

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... (read more)

PDF Abstract
TASK DATASET MODEL METRIC NAME METRIC VALUE GLOBAL RANK RESULT LEADERBOARD
6D Pose Estimation NOCS-REAL275 6-PACK 5°5 cm 33.3 # 1
IOU25 94.2 # 1
Rerr 16.0 # 1
Terr 3.5 # 1