Real-time RGB-D-based Object and Manipulator Pose Estimation

Karl Pauwels, Leonardo Rubio, Vladimir Ivan, Sethu Vijayakumar, Eduardo Ros

Research output: Chapter in Book/Report/Conference proceedingConference contribution


We present an overview of our recent work on real-time model-based object pose estimation from intensity and depth cues. We have developed a system that can simultaneously track the pose of hundreds of rigid objects. By incorporating proprioceptive information, objects can be tracked together with their robotic manipulator, enabling accurate visual servo-control even in the presence of severe camera motion. By imposing constraints on the relative poses of object parts, the same system can be used to detect and track the pose of articulated objects as well.
Original languageEnglish
Title of host publicationWorkshop on RGB-D: Advanced Reasoning with Depth Cameras, Robotics: Science and Systems (R:SS 2014)
Number of pages3
Publication statusPublished - 2014
EventRGB-D: Advanced Reasoning with Depth Cameras 2014 - Freiburg im Breisgau, Germany
Duration: 12 Jul 201412 Jul 2014


ConferenceRGB-D: Advanced Reasoning with Depth Cameras 2014
Abbreviated titleR:SS 2014
CityFreiburg im Breisgau
Internet address


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