Point2Pose: Occlusion-Recovering 6D Pose Tracking and 3D Reconstruction for Multiple Unknown Objects Via 2D Point Trackers

Source: arXiv cs.RO·2026-08-27 12:00Publish time unverified

arXiv:2604.10415v2 Announce Type: replace-cross Abstract: We present Point2Pose, a model-free method for causal 6D pose tracking of multiple rigid objects from monocular RGB-D video. Initialized only from sparse image points on the objects, our approach tracks multiple unseen objects without requiring object CAD models or category priors. Point2Pose leverages a 2D point tracker to obtain long-range correspondences, enabling instant recovery after complete occlusion.