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Exploring Category-level Articulated Object Pose Tracking on SE(3) Manifolds

arXiv 2511.05996 ↗First posted 8 Nov 2025cs.CV cs.AI cs.MMcited by 0

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Abstract (arXiv)

Articulated objects are prevalent in daily life and robotic manipulation tasks. However, compared to rigid objects, pose tracking for articulated objects remains an underexplored problem due to their inherent kinematic constraints. To address these challenges, this work proposes a novel point-pair-based pose tracking framework, termed PPF-Tracker. The proposed framework first performs quasi-canonicalization of point clouds in the SE(3) Lie group space, and then models articulated objects using Point Pair Features (PPF) to predict pose voting parameters by leveraging the invariance properties of SE(3). Finally, semantic information of joint axes is incorporated to impose unified kinematic constraints across all parts of the articulated object. PPF-Tracker is systematically evaluated on both synthetic datasets and real-world scenarios, demonstrating strong generalization across diverse and challenging environments. Experimental results highlight the effectiveness and robustness of PPF-Tracker in multi-frame pose tracking of articulated objects. We believe this work can foster advances in robotics, embodied intelligence, and augmented reality. Codes are available at https://github.com/mengxh20/PPFTracker.

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References · 31

  1. 2017PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Spacecited by 4,401
  2. 2020SAPIEN: A SimulAted Part-based Interactive ENvironmentcited by 595
  3. 2019Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimationcited by 495
  4. 2021Where2Act: From Pixels to Actions for Articulated 3D Objectscited by 182
  5. 2017SGPN: Similarity Group Proposal Network for 3D Point Cloud Instance Segmentationcited by 169
  6. 2019Category-Level Articulated Object Pose Estimationcited by 159
  7. 2023BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objectscited by 148
  8. 2021DualPoseNet: Category-level 6D Object Pose and Size Estimation Using Dual Pose Network with Refined Learning of Pose Consistencycited by 103
  9. 2019Self-supervised 6D Object Pose Estimation for Robot Manipulationcited by 101
  10. 2022GPV-Pose: Category-level Object Pose Estimation via Geometry-guided Point-wise Votingcited by 94
  11. 2023Wavelet-based Fourier Information Interaction with Frequency Diffusion Adjustment for Underwater Image Restorationcited by 88
  12. 2021BundleTrack: 6D Pose Tracking for Novel Objects without Instance or Category-Level 3D Modelscited by 87
19 more
  1. 2021CAPTRA: CAtegory-level Pose Tracking for Rigid and Articulated Objects from Point Cloudscited by 84
  2. 2022AKB-48: A Real-World Articulated Object Knowledge Basecited by 82
  3. 2022ShAPO: Implicit Representations for Multi-Object Shape, Appearance, and Pose Optimizationcited by 72
  4. 2020ScrewNet: Category-Independent Articulation Model Estimation From Depth Images Using Screw Theorycited by 70
  5. 2022YOLO-Pose: Enhancing YOLO for Multi Person Pose Estimation Using Object Keypoint Similarity Losscited by 68
  6. 2022Category-Level 6D Object Pose Estimation in the Wild: A Semi-Supervised Learning Approach and A New Datasetcited by 59
  7. 2021Leveraging SE(3) Equivariance for Self-Supervised Category-Level Object Pose Estimationcited by 45
  8. 2021Towards Real-World Category-level Articulation Pose Estimationcited by 39
  9. 2021FCPose: Fully Convolutional Multi-Person Pose Estimation with Dynamic Instance-Aware Convolutionscited by 34
  10. 2020Deep Keypoint-Based Camera Pose Estimation with Geometric Constraintscited by 29
  11. 2022Category-Independent Articulated Object Tracking with Factor Graphscited by 24
  12. 2020Unsupervised Learning of Category-Specific Symmetric 3D Keypoints from Point Setscited by 23
  13. 2025From Zero to Detail: Deconstructing Ultra-High-Definition Image Restoration from Progressive Spectral Perspectivecited by 23
  14. 2022Keypoint-Based Category-Level Object Pose Tracking from an RGB Sequence with Uncertainty Estimationcited by 19
  15. 2025UltraHR-100K: Enhancing UHR Image Synthesis with A Large-Scale High-Quality Datasetcited by 18
  16. 2023ContactArt: Learning 3D Interaction Priors for Category-level Articulated Object and Hand Poses Estimationcited by 16
  17. 2020UKPGAN: A General Self-Supervised Keypoint Detectorcited by 15
  18. 2024RPMArt: Towards Robust Perception and Manipulation for Articulated Objectscited by 5
  19. 2024Generalizable Articulated Object Perception with Superpointscited by 1

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