MaskUKF: An Instance Segmentation Aided Unscented Kalman Filter for 6D Object Pose and Velocity Tracking

Tracking the 6D pose and velocity of objects represents a fundamental requirement for modern robotics manipulation tasks. This paper proposes a 6D object pose tracking algorithm, called MaskUKF, that combines deep object segmentation networks and depth information with a serial Unscented Kalman Filt...

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Detalles Bibliográficos
Autores principales: Piga, Nicola A., Bottarel, Fabrizio, Fantacci, Claudio, Vezzani, Giulia, Pattacini, Ugo, Natale, Lorenzo
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2021
Materias:
Robotics and AI
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8114180/
https://www.ncbi.nlm.nih.gov/pubmed/33996920
http://dx.doi.org/10.3389/frobt.2021.594583

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