Keypoint-based Dynamic Object 6-DoF Pose Tracking via Event Camera
Accurate 6-DoF pose estimation of objects is critical for robots to perform precise manipulation tasks. However, for dynamic object pose estimation, conventional camera-based approaches face several major challenges, such as motion blur, sensor noise, and low-light limitation. To address these issues, we employ event cameras, whose high dynamic range and low latency offer a promising solution. Furthermore, we propose a keypoint-based detection and tracking approach for dynamic object pose estimation. Firstly, a keypoint detection network is constructed to extract keypoints from the time surface generated by the event stream. Subsequently, the polarity and spatial coordinates of the events...
| Authors | Zhe Wang, Qijin Song, Zihao Li et al. |
|---|---|
| Primary category | cs.CV |
| Published | 25 April 2026 |
| Last updated at source | 25 April 2026 |
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