mlsanityData to 7 Oct 2026

GarmentTracking: Category-Level Garment Pose Tracking

arXiv 2303.13913 ↗First posted 24 Mar 2023cs.CV cs.ROcited by 15

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Abstract (arXiv)

Garments are important to humans. A visual system that can estimate and track the complete garment pose can be useful for many downstream tasks and real-world applications. In this work, we present a complete package to address the category-level garment pose tracking task: (1) A recording system VR-Garment, with which users can manipulate virtual garment models in simulation through a VR interface. (2) A large-scale dataset VR-Folding, with complex garment pose configurations in manipulation like flattening and folding. (3) An end-to-end online tracking framework GarmentTracking, which predicts complete garment pose both in canonical space and task space given a point cloud sequence. Extensive experiments demonstrate that the proposed GarmentTracking achieves great performance even when the garment has large non-rigid deformation. It outperforms the baseline approach on both speed and accuracy. We hope our proposed solution can serve as a platform for future research. Codes and datasets are available in https://garment-tracking.robotflow.ai.

Key facts. Cited by 15 papers in the map (data through 7 Oct 2026). Builds on 23 of its 44 references that are in the map. First posted on arXiv 24 Mar 2023.

Builds on

23 of 44 references.

References · 23

  1. 2017Attention Is All You Needcited by 59,932
  2. 2016PointNet: Deep Learning on Point Sets for 3D Classification and Segmentationcited by 5,223
  3. 2017PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Spacecited by 4,384
  4. 20163D U-Net: Learning Dense Volumetric Segmentation from Sparse Annotationcited by 1,471
  5. 2019Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimationcited by 490
  6. 2019Category-Level Articulated Object Pose Estimationcited by 158
  7. 20214DComplete: Non-Rigid Motion Estimation Beyond the Observable Surfacecited by 123
  8. 2019CLOTH3D: Clothed 3D Humanscited by 114
  9. 2020Deep Fashion3D: A Dataset and Benchmark for 3D Garment Reconstruction from Single Imagescited by 101
  10. 2021NPMs: Neural Parametric Models for 3D Deformable Shapescited by 89
  11. 2022AKB-48: A Real-World Articulated Object Knowledge Basecited by 81
  12. 2021FlingBot: The Unreasonable Effectiveness of Dynamic Manipulation for Cloth Unfoldingcited by 80
11 more
  1. 2019DeepDeform: Learning Non-rigid RGB-D Reconstruction with Semi-supervised Datacited by 76
  2. 2016VolumeDeform: Real-time Volumetric Non-rigid Reconstructioncited by 75
  3. 2021PTTR: Relational 3D Point Cloud Object Tracking with Transformercited by 65
  4. 2022SpeedFolding: Learning Efficient Bimanual Folding of Garmentscited by 51
  5. 2020Neural Non-Rigid Trackingcited by 49
  6. 2021GarmentNets: Category-Level Pose Estimation for Garments via Canonical Space Shape Completioncited by 41
  7. 2021Towards Real-World Category-level Articulation Pose Estimationcited by 39
  8. 2022SPAMs: Structured Implicit Parametric Modelscited by 29
  9. 2022OcclusionFusion: Occlusion-aware Motion Estimation for Real-time Dynamic 3D Reconstructioncited by 27
  10. 2021Garment4D: Garment Reconstruction from Point Cloud Sequencescited by 23
  11. 2021OMAD: Object Model with Articulated Deformations for Pose Estimation and Retrievalcited by 12

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 1; 2024: 6; 2025: 7; 2026: 1.

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  1. 2024UniGarmentManip: A Unified Framework for Category-Level Garment Manipulation via Dense Visual Correspondencecited by 22
  2. 2024GarmentLab: A Unified Simulation and Benchmark for Garment Manipulationcited by 19
  3. 2023UniFolding: Towards Sample-efficient, Scalable, and Generalizable Robotic Garment Foldingcited by 13
  4. 2024Reconstruction of Manipulated Garment with Guided Deformation Priorcited by 8
  5. 2024TieBot: Learning to Knot a Tie from Visual Demonstration through a Real-to-Sim-to-Real Approachcited by 5
  6. 2025InstructionBench: An Instructional Video Understanding Benchmarkcited by 5
  7. 2025CAP-Net: A Unified Network for 6D Pose and Size Estimation of Categorical Articulated Parts from a Single RGB-D Imagecited by 5
  8. 2025BiFold: Bimanual Cloth Folding with Language Guidancecited by 4
  9. 2025GraphGarment: Learning Garment Dynamics for Bimanual Cloth Manipulation Taskscited by 3
  10. 2025You Only Estimate Once: Unified, One-stage, Real-Time Category-level Articulated Object 6D Pose Estimation for Robotic Graspingcited by 3
  11. 2026DICArt: Advancing Category-level Articulated Object Pose Estimation in Discrete State-Spacescited by 2
  12. 2024RaggeDi: Diffusion-based State Estimation of Disordered Rags, Sheets, Towels and Blanketscited by 1
3 more
  1. 2024Flat'n'Fold: A Diverse Multi-Modal Dataset for Garment Perception and Manipulationcited by 1
  2. 2025Learning a General Model: Folding Clothing with Topological Dynamicscited by 1
  3. 2025Beyond Static Perception: Integrating Temporal Context into VLMs for Cloth Foldingcited by 0