Temporally Consistent Object 6D Pose Estimation for Robot Control
Single-view RGB object pose estimators have reached a level of precision and efficiency that makes them good candidates for vision-based robot control. However, off-the-shelf methods lack temporal consistency and robustness that are mandatory for a stable feedback control. In this work, we develop a factor graph approach to enforce temporal consistency of the object pose estimates. In particular, the proposed approach: (i) incorporates object motion models, (ii) explicitly estimates the object pose measurement uncertainty, and (iii) integrates the above two components in an online optimization-based estimator. We demonstrate that with appropriate outlier rejection and smoothing using the ...
| Authors | Kateryna Zorina, Vojtech Priban, Mederic Fourmy et al. |
|---|---|
| Primary category | cs.RO |
| Published | 4 May 2026 |
| Last updated at source | 4 May 2026 |
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