DynamicPose: Real-time and Robust 6D Object Pose Tracking for Fast-Moving Cameras and Objects
This work addresses a critical limitation in robotics and AR/VR applications by enabling reliable pose tracking in dynamic environments, representing a strong domain-specific advancement.
The paper tackles the problem of 6D object pose tracking in fast-moving camera and object scenarios, where previous methods fail, and achieves real-time and robust tracking through a closed-loop system with visual-inertial odometry, depth-informed 2D tracking, and a Kalman filter.
We present DynamicPose, a retraining-free 6D pose tracking framework that improves tracking robustness in fast-moving camera and object scenarios. Previous work is mainly applicable to static or quasi-static scenes, and its performance significantly deteriorates when both the object and the camera move rapidly. To overcome these challenges, we propose three synergistic components: (1) A visual-inertial odometry compensates for the shift in the Region of Interest (ROI) caused by camera motion; (2) A depth-informed 2D tracker corrects ROI deviations caused by large object translation; (3) A VIO-guided Kalman filter predicts object rotation, generates multiple candidate poses, and then obtains the final pose by hierarchical refinement. The 6D pose tracking results guide subsequent 2D tracking and Kalman filter updates, forming a closed-loop system that ensures accurate pose initialization and precise pose tracking. Simulation and real-world experiments demonstrate the effectiveness of our method, achieving real-time and robust 6D pose tracking for fast-moving cameras and objects.