Papers Pose Tracking
“Pose Tracking” 태그가 달린 논문 258편 · 필터 해제
Grounding Generated Video Plans in Simulation Towards Versatile Dexterous Controllers
Generated hand-object interaction (HOI) videos provide a controllable way to propose manipulation motions. Simulation-based HOI tracking can translate such kinematic references into feasible low-level control, but its sc…
Pose TrackingAquaFlow: A Monocular Gaussian Splatting SLAM for Underwater Streaming Reconstruction
Recent monocular 3D Gaussian Splatting (3DGS) streaming reconstruction methods have achieved impressive performance by balancing reconstruction quality and efficiency. However, extending these frameworks to underwater sc…
Pose TrackingOne Residual with Three Reuses: A Wristband Front End for Gesture Sensing
Continuous wrist-worn hand sensing for gesture interfaces and motor symptom monitoring needs an always-on front end that fits inside a coin-cell power budget while pairing a micro-electro-mechanical-systems (MEMS) inerti…
Pose TrackingRRTrack: Robust and Recoverable Object 6D Pose Tracking for Dynamic Scenes
Robust object 6D pose tracking is critical for robotic systems operating in dynamic and occluded scenes. Per-frame estimators are accurate but computationally expensive, while current trackers struggle with fast motion a…
Video Object SegmentationPose TrackingRobust 6-DoF Object Pose Tracking with Built-In Recovery under Occlusions and Rapid Object Motions
Real-time 6-DoF object pose tracking is essential for many robotics applications, and several approaches exist. Yet even today's approaches remain unreliable under temporary full occlusions and rapid object motions. Once…
Object TrackingPose EstimationPose TrackingKineFuse: Kinematic-Aware Haptic Fusion for In-Hand Occluded-Object Pose Tracking
Dexterous in-hand manipulation requires continuous 6D pose tracking, yet the manipulating fingers inevitably occlude the object from the camera. We study how to structure the sparse haptic signals already available on mu…
Pose TrackingStreamlining stereo differentiable rendering for marker-free real-time tracking of surgical robots
Purpose: Marker-based tracking of surgical robots is occlusion-prone in cluttered operating rooms. We evaluate stereo differentiable rendering for marker-free, real-time robot pose tracking, potentially improving safety,…
Pose EstimationPose TrackingProxyPose: 6-DoF Pose Tracking via Video-to-Video Translation
Tracking the six-degree-of-freedom (6-DoF) pose of objects and surfaces from monocular video is a long-standing problem in computer vision. To tackle this problem, existing methods require inputs beyond the video itself-…
Camera Pose EstimationPose TrackingRobust and Efficient Monocular 3D Gaussian SLAM for Kilometer-Scale Outdoor Scenes
Scaling monocular 3D Gaussian Splatting (3DGS) SLAM to kilometer-level outdoor environments poses two tightly coupled challenges: fragile long-term pose tracking and excessive memory overhead during large-scale mapping. …
Pose TrackingMore with LESS -- Local Scene Representations for Tactile Imaging
Tactile imaging seeks to reconstruct the internal structure of soft objects through touch sensing, with applications in medical diagnosis and robotic manipulation. Recent self-supervised learning approaches have shown pr…
Self-Supervised Learning3D ReconstructionMedical DiagnosisPose TrackingProvably Guaranteed Polytopic Uncertainty Quantification for SLAM
In safety-critical robotics applications, guaranteed and practical uncertainty quantification (UQ) in perception is vital. Many existing works either offer no formal containment guarantee, rely on restrictive modeling as…
Pose EstimationPose TrackingInvariantCloud: A Globally Invariant, Uniquely Indexed Point Cloud Framework for Robust 6-DoF Tactile Pose Tracking
Recent advances in imitation learning and vision-language models highlight the need for high-fidelity tactile perception, with 6-DoF tactile object pose estimation providing a crucial foundation for precise robotic manip…
Point Cloud RegistrationPose EstimationPose TrackingComPose: When to Trust Hands for Object Pose Tracking
Reconstructing the motion of objects from videos is a key component for embodied AI and robot manipulation. While diverse approaches to object pose tracking have been studied, they rely heavily on strong external priors,…
Robot ManipulationObject TrackingPose EstimationPose TrackingAerial Inspection Behaviors via RL-based Quadrotor Control for Under-canopy Forest Environments
This paper addresses the problem of using a deep Reinforcement Learning (RL)-based low-level Quadrotor controller within an autonomous Quadrotor navigation stack for aerial inspection missions in under-canopy forest envi…
Reinforcement LearningPose TrackingControl of Fully Actuated Aerial Vehicles: A Comparison of Model-based and Sensor-based Dynamic Inversion
Fully actuated multirotor platforms decouple translational force generation from vehicle attitude, enabling independent control of position and orientation and shifting performance limitations from attitude authority to …
Pose TrackingFrom Articulated Kinematics to Routed Visual Control for Action-Conditioned Surgical Video Generation
Action-conditioned surgical video generation is a critical yet highly challenging problem for robotic surgery. The core difficulty is that low-dimensional control vectors must precisely govern complex image-space evoluti…
Domain GeneralizationVideo GenerationPose TrackingMobileEgo Anywhere: Open Infrastructure for long horizon egocentric data on commodity hardware
Vision-language-action (VLA) models have driven demand for large-scale egocentric datasets, yet the hardware and infrastructure to collect long-horizon data remain inaccessible. Datasets today typically have episodes onl…
Pose TrackingPose Tracking with a Foundation Pose Model and an Ensemble Directional Kalman Filter
This paper introduces the ensemble directional Kalman filter (EnDKF), an ensemble-based Kalman filtering approach for pose tracking that jointly estimates an object's position and attitude using ideas from directional st…
Pose TrackingEvent-based SLAM Benchmark for High-Speed Maneuvers
Event-based cameras are bio-inspired sensors with pixels that independently and asynchronously respond to brightness changes at microsecond resolution, offering the potential to handle visual tasks in high-speed maneuver…
Visual OdometryPose TrackingKeypoint-based Dynamic Object 6-DoF Pose Tracking via Event Camera
Accurate 6-DoF pose estimation of objects is critical for robots to perform precise manipulation tasks. However, for dynamic object pose estimation, conventional camera-based approaches face several major challenges, suc…
Keypoint DetectionPose EstimationPose Tracking