mlsanityData to 7 Oct 2026

Towards Real-World Aerial Vision Guidance with Categorical 6D Pose Tracker

arXiv 2401.04377 ↗First posted 9 Jan 2024cs.RO cs.CVcited by 3

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Abstract (arXiv)

Tracking the object 6-DoF pose is crucial for various downstream robot tasks and real-world applications. In this paper, we investigate the real-world robot task of aerial vision guidance for aerial robotics manipulation, utilizing category-level 6-DoF pose tracking. Aerial conditions inevitably introduce special challenges, such as rapid viewpoint changes in pitch and roll and inter-frame differences. To support these challenges in task, we firstly introduce a robust category-level 6-DoF pose tracker (Robust6DoF). This tracker leverages shape and temporal prior knowledge to explore optimal inter-frame keypoint pairs, generated under a priori structural adaptive supervision in a coarse-to-fine manner. Notably, our Robust6DoF employs a Spatial-Temporal Augmentation module to deal with the problems of the inter-frame differences and intra-class shape variations through both temporal dynamic filtering and shape-similarity filtering. We further present a Pose-Aware Discrete Servo strategy (PAD-Servo), serving as a decoupling approach to implement the final aerial vision guidance task. It contains two servo action policies to better accommodate the structural properties of aerial robotics manipulation. Exhaustive experiments on four well-known public benchmarks demonstrate the superiority of our Robust6DoF. Real-world tests directly verify that our Robust6DoF along with PAD-Servo can be readily used in real-world aerial robotic applications.

Key facts. Cited by 3 papers in the map (data through 7 Oct 2026). Builds on 51 of its 85 references that are in the map. First posted on arXiv 9 Jan 2024.

Builds on

51 of 85 references.

References · 51

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38 more
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Cited by year (2026 to 7 Oct)

Citing papers per year: 2025: 1; 2026: 2.

3 papers.

  1. 2026CRAFT: Adapting VLA Models to Contact-rich Manipulation via Force-aware Curriculum Fine-tuningcited by 7
  2. 2025Efficient Self-Supervised Neuro-Analytic Visual Servoing for Real-time Quadrotor Controlcited by 1
  3. 2026Hermite Curves as Trajectory Priors for Vision-Language-Action Modelscited by 1