Reflection-Robust 6DoF Object Tracking with Light Fields
Tracking the 6DoF pose of a moving rigid object is fundamental to robotics and autonomous driving, but existing trackers assume that object appearance is stable across a sequence, an assumption that breaks down on reflective surfaces whose appearance changes as they mirror the environment. We introduce a light field based reflection-robust 6DoF tracker that turns this apparent nuisance into a pose cue. Per frame, our method recovers depth robustly against reflections, back-projects it into a point cloud, and estimates surface normals. It then decomposes the object's view-dependent appearance into a diffuse albedo and the environment map it reflects, resulting in a relightable surface ligh...
| Authors | Nikolai Goncharov, Donald G. Dansereau |
|---|---|
| Primary category | cs.CV |
| Published | 4 October 2026 |
| Last updated at source | 4 October 2026 |
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