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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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Tracking object in real-time #82

Closed ChenxMa closed 6 months ago

ChenxMa commented 6 months ago

Hi,

Thanks for your excellent work, I'm trying to track the object pose in real-time, just like your paper: Vision-driven Compliant Manipulation for Reliable, High-Precision Assembly Tasks. In the paper you mentioned:

The initial 6D pose of each object on the support surface is estimated once via RANSAC-based plane fitting and removal, followed by a single-shot pose estimation approach to initialize tracking

I realized that the initial point is important in real-time tracking. In #57 you mentioned an offline annotator. So if you please give me some advice about how to get an online initial pose estimator, like how to use "RANSAC-based plane fitting and removal and a single-shot pose estimation approach to initialize tracking" or other methods?

Thanks in advance!

wenbowen123 commented 6 months ago

@ChenxMa back then we used a heuristics-based method like you pointed out. But I'd encourage you to check our recent work FoundationPose which serves this purpose perfectly.

ChenxMa commented 6 months ago

Thanks for your early reply, I will read the paper carefully, and please let me know if the code is released