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wenbowen123 / iros20-6d-pose-tracking

[IROS 2020] se(3)-TrackNet: Data-driven 6D Pose Tracking by Calibrating Image Residuals in Synthetic Domains
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When will the code be released #1

Closed HalfSummer11 closed 4 years ago

HalfSummer11 commented 4 years ago

Hi, thanks for the great work! I'm very interested in your project and I really look forward to the code release. Is there any plan on the release date? Thanks :))

wenbowen123 commented 4 years ago

@HalfSummer11 Hi, thank you for your interest. I'm catching ICRA recently but I will try to release it by Oct.

HalfSummer11 commented 4 years ago

Thanks! By the way, I'm very impressed by the high frame rate of your model, especially when it has to render image on-the-fly (please correct me if I'm wrong). Is it mainly due to the small model w/ few parameters?

wenbowen123 commented 4 years ago

Generally, the framework runs fast because: 1) input size is small, only 176x176 2) network is indeed relatively shallow, and mostly 2D convolution. 3) rendering on-the-fly doesn't introduce much overhead since it's only needed in branch A, and is just basic OpenGL rendering (not photo-realistic ray tracing). Also the scene to render is very simple, just one object model without background.

HalfSummer11 commented 4 years ago

Got it :) Thank you!

wenbowen123 commented 3 years ago

@HalfSummer11 the code has been released.

HalfSummer11 commented 3 years ago

Wow this is great! Thanks a lot for the work and for sharing the exciting news of code release 😊