Active Control Points-based 6DoF Pose Tracking for Industrial Metal Objects

TL;DR

This paper introduces a novel 6DoF pose tracking method for industrial metal objects using active control points, improving robustness and real-time performance in challenging reflective environments.

Contribution

The proposed method uses image control points for active feature generation and introduces an optimal control point regression to enhance robustness.

Findings

Effective in dataset evaluation

Performs well in real-world tasks

Provides a real-time tracking solution

Abstract

Visual pose tracking is playing an increasingly vital role in industrial contexts in recent years. However, the pose tracking for industrial metal objects remains a challenging task especially in the real world-environments, due to the reflection characteristic of metal objects. To address this issue, we propose a novel 6DoF pose tracking method based on active control points. The method uses image control points to generate edge feature for optimization actively instead of 6DoF pose-based rendering, and serve them as optimization variables. We also introduce an optimal control point regression method to improve robustness. The proposed tracking method performs effectively in both dataset evaluation and real world tasks, providing a viable solution for real-time tracking of industrial metal objects. Our source code is made publicly available at: https://github.com/tomatoma00/ACPTracking.