mlsanityData to 14 Oct 2026

DynamicPose: Real-time and Robust 6D Object Pose Tracking for Fast-Moving Cameras and Objects

arXiv 2508.11950 ↗First posted 16 Aug 2025cs.CV cs.ROcited by 5

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Abstract (arXiv)

We present DynamicPose, a retraining-free 6D pose tracking framework that improves tracking robustness in fast-moving camera and object scenarios. Previous work is mainly applicable to static or quasi-static scenes, and its performance significantly deteriorates when both the object and the camera move rapidly. To overcome these challenges, we propose three synergistic components: (1) A visual-inertial odometry compensates for the shift in the Region of Interest (ROI) caused by camera motion; (2) A depth-informed 2D tracker corrects ROI deviations caused by large object translation; (3) A VIO-guided Kalman filter predicts object rotation, generates multiple candidate poses, and then obtains the final pose by hierarchical refinement. The 6D pose tracking results guide subsequent 2D tracking and Kalman filter updates, forming a closed-loop system that ensures accurate pose initialization and precise pose tracking. Simulation and real-world experiments demonstrate the effectiveness of our method, achieving real-time and robust 6D pose tracking for fast-moving cameras and objects.

Key facts. Cited by 5 papers in the map (data through 14 Oct 2026). Builds on 18 of its 31 references that are in the map. First posted on arXiv 16 Aug 2025.

Builds on

18 of 31 references.

References · 18

  1. 2015Deep Residual Learning for Image Recognitioncited by 52,096
  2. 2024SAM 2: Segment Anything in Images and Videoscited by 2,863
  3. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 775
  4. 2023FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objectscited by 429
  5. 2020CosyPose: Consistent multi-view multi-object 6D pose estimationcited by 287
  6. 2018DeepIM: Deep Iterative Matching for 6D Pose Estimationcited by 283
  7. 2019PVN3D: A Deep Point-wise 3D Keypoints Voting Network for 6DoF Pose Estimationcited by 204
  8. 2022MegaPose: 6D Pose Estimation of Novel Objects via Render & Comparecited by 201
  9. 2021FFB6D: A Full Flow Bidirectional Fusion Network for 6D Pose Estimationcited by 144
  10. 2019PoseRBPF: A Rao-Blackwellized Particle Filter for 6D Object Pose Trackingcited by 91
  11. 2020se(3)-TrackNet: Data-driven 6D Pose Tracking by Calibrating Image Residuals in Synthetic Domainscited by 90
  12. 2022OSOP: A Multi-Stage One Shot Object Pose Estimation Frameworkcited by 81
6 more
  1. 20196-PACK: Category-level 6D Pose Tracker with Anchor-Based Keypointscited by 78
  2. 2019A General Optimization-based Framework for Global Pose Estimation with Multiple Sensorscited by 44
  3. 2024Deep Learning-Based Object Pose Estimation: A Comprehensive Surveycited by 40
  4. 2018A Region-based Gauss-Newton Approach to Real-Time Monocular Multiple Object Trackingcited by 21
  5. 2021SRT3D: A Sparse Region-Based 3D Object Tracking Approach for the Real Worldcited by 19
  6. 2022Keypoint-Based Category-Level Object Pose Tracking from an RGB Sequence with Uncertainty Estimationcited by 19

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2026: 5.

5 papers.

  1. 2026Exploring 6D Object Pose Estimation with Deformationcited by 0
  2. 2026MAPRPose: Mask-Aware Proposal and Amodal Refinement for Multi-Object 6D Pose Estimationcited by 0
  3. 2026PerchRL: Vision-Based Agile Perching on Inclined Platforms under Rapid and Irregular Motioncited by 0
  4. 2026Robust 6-DoF Object Pose Tracking with Built-In Recovery under Occlusions and Rapid Object Motionscited by 0
  5. 2026RRTrack: Robust and Recoverable Object 6D Pose Tracking for Dynamic Scenescited by 0