Ontology highlight
ABSTRACT:
SUBMITTER: Piga NA
PROVIDER: S-EPMC8114180 | biostudies-literature | 2021
REPOSITORIES: biostudies-literature
Piga Nicola A NA Bottarel Fabrizio F Fantacci Claudio C Vezzani Giulia G Pattacini Ugo U Natale Lorenzo L
Frontiers in robotics and AI 20210322
Tracking the 6D pose and velocity of objects represents a fundamental requirement for modern robotics manipulation tasks. This paper proposes a 6D object pose tracking algorithm, called MaskUKF, that combines deep object segmentation networks and depth information with a serial Unscented Kalman Filter to track the pose and the velocity of an object in real-time. MaskUKF achieves and in most cases surpasses state-of-the-art performance on the YCB-Video pose estimation benchmark without the need f ...[more]