Preprint
Oct 2026
Fast Pose Tracking of Rigid Objects with Compact Pose Graph Optimization
Tracking a novel object's 6D pose over long horizons currently requires either expensive onboarding or a reconstruction maintained throughout the sequence. This makes current trackers impractical for robotic manipulation and augmented reality, which need trackers that are ready to use and run in real time. We show that...
Xiao-Jie Zhang, Tom Fischer, Viktor Larsson et al.
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