In this work, we tackle the problem of category-level online pose tracking of objects from point cloud sequences. For the first time, we propose a unified framework that can handle 9DoF pose tracking for novel rigid object instances as well as per-part pose tracking for articulated objects from known categories. Here the 9DoF pose, comprising 6D pose and 3D size, is equivalent to a 3D amodal bounding box representation with free 6D pose. Given the depth point cloud at the current frame and the estimated pose from the last frame, our novel end-to-end pipeline learns to accurately update the pose. Our pipeline is composed of three modules: 1) a pose canonicalization module that normalizes the pose of the input depth point cloud; 2) RotationNet, a module that directly regresses small interframe delta rotations; and 3) CoordinateNet, a module that predicts the normalized coordinates and segmentation, enabling analytical computation of the 3D size and translation. Leveraging the small pose regime in the pose-canonicalized point clouds, our method integrates the best of both worlds by combining dense coordinate prediction and direct rotation regression, thus yielding an end-to-end differentiable pipeline optimized for 9DoF pose accuracy (without using non-differentiable RANSAC). Our extensive experiments demonstratemore »
BundleTrack: 6D Pose Tracking for Novel Objects without Instance or Category-Level 3D Models
Tracking the 6D pose of objects in video sequences is important for robot manipulation. Most prior efforts, however, often assume that the target object's CAD model, at least at a category-level, is available for offline training or during online template matching. This work proposes BundleTrack, a general framework for 6D pose tracking of novel objects, which does not depend upon 3D models, either at the instance or category-level. It leverages the complementary attributes of recent advances in deep learning for segmentation and robust feature extraction, as well as memory-augmented pose graph optimization for spatiotemporal consistency. This enables long-term, low-drift tracking under various challenging scenarios, including significant occlusions and object motions. Comprehensive experiments given two public benchmarks demonstrate that the proposed approach significantly outperforms state-of-art, category-level 6D tracking or dynamic SLAM methods. When compared against state-of-art methods that rely on an object instance CAD model, comparable performance is achieved, despite the proposed method's reduced information requirements. An efficient implementation in CUDA provides a real-time performance of 10Hz for the entire framework. Code is available at: https://github.com/wenbowen123/BundleTrack
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- IEEE/RSJ International Conference on Intelligent Robots and Systems
- Sponsoring Org:
- National Science Foundation
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