In this work, we tackle the problem of category-level online pose tracking of objects from point cloud sequences. For the first time, we propose a unified framework that can handle 9DoF pose tracking for novel rigid object instances as well as per-part pose tracking for articulated objects from known categories. Here the 9DoF pose, comprising 6D pose and 3D size, is equivalent to a 3D amodal bounding box representation with free 6D pose. Given the depth point cloud at the current frame and the estimated pose from the last frame, our novel end-to-end pipeline learns to accurately update the pose. Our pipeline is composed of three modules: 1) a pose canonicalization module that normalizes the pose of the input depth point cloud; 2) RotationNet, a module that directly regresses small interframe delta rotations; and 3) CoordinateNet, a module that predicts the normalized coordinates and segmentation, enabling analytical computation of the 3D size and translation. Leveraging the small pose regime in the pose-canonicalized point clouds, our method integrates the best of both worlds by combining dense coordinate prediction and direct rotation regression, thus yielding an end-to-end differentiable pipeline optimized for 9DoF pose accuracy (without using non-differentiable RANSAC). Our extensive experiments demonstrate that our method achieves new state-of-the-art performance on category-level rigid object pose (NOCS-REAL275) and articulated object pose benchmarks (SAPIEN, BMVC) at the fastest FPS ~12.

Project: https://yijiaweng.github.io/CAPTRA/
Paper: https://arxiv.org/abs/2104.03437  

ICCV is the premier international computer vision event comprising the main conference and several co-located workshops and tutorials. With its high quality and low cost, it provides an exceptional value for students, academics and industry researchers. ICCV, along with CVPR and ECCV, are regarded as the top conferences in the field of computer vision. ICCV is held biennially. Due to concerns about COVID-19, ICCV 2021 will be hosted online from October 11th to October 17th, 2021.