Real-time 6D Pose tracking of Novel Object using 2D Gaussian Splatting

To continuously know the position and orientation of an object in a world or base frame.

Motivation:

• Robotic manipulation: Enables real-time pick-and-place or manipulation of unfamiliar objects without CAD models in dynamic environments like warehouses or factories

• Augmented Reality: Enables accurate anchoring of virtual content onto real-world objects

• Service robots: Enables object tracking and manipulation in home and healthcare

Research Objective:

• Needed faster 6D Pose tracking rates (~25Hz) for real-time manipulation

• Should apply to a novel object

• No training should be required for tracking

• Eliminate intermediate representation​​​​​​