Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: BundleTrack: 6D Pose Tracking for Novel Objects without Instance or
  Category-Level 3D Models   Tracking the 6D pose of objects in video sequences is important for robot
manipulation. Most prior efforts, however, often assume that the target
object's CAD model, at least at a category-level, is available for offline
training or during online template matching. This work proposes BundleTrack, a
general framework for 6D pose tracking of novel objects, which does not depend
upon 3D models, either at the instance or category-level. It leverages the
complementary attributes of recent advances in deep learning for segmentation
and robust feature extraction, as well as memory-augmented pose graph
optimization for spatiotemporal consistency. This enables long-term, low-drift
tracking under various challenging scenarios, including significant occlusions
and object motions. Comprehensive experiments given two public benchmarks
demonstrate that the proposed approach significantly outperforms state-of-art,
category-level 6D tracking or dynamic SLAM methods. When compared against
state-of-art methods that rely on an object instance CAD model, comparable
performance is achieved, despite the proposed method's reduced information
requirements. An efficient implementation in CUDA provides a real-time
performance of 10Hz for the entire framework. Code is available at:
https://github.com/wenbowen123/BundleTrack

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The categories of this paper are: cond-mat
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The categories of this paper are: math
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The categories of this paper are: adap-org
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The categories of this paper are: comp-gas
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The categories of this paper are: solv-int
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The categories of this paper are: hep-ex
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The categories of this paper are: gr-qc
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The categories of this paper are: eess
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The categories of this paper are: econ
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The categories of this paper are: patt-sol
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The categories of this paper are: cmp-lg
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The categories of this paper are: hep-lat
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The categories of this paper are: funct-an
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The categories of this paper are: physics
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The categories of this paper are: nucl-ex
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The categories of this paper are: astro-ph