CAPTRA: CAtegory-level Pose Tracking for Rigid and Articulated Objects from Point Clouds

Understand

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.