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RoPT: A Robust 6DoF Object Pose Tracking Framework for Video

RoPT is a 6DoF object pose tracking framework for robotic interaction that couples visual perception, temporal kinematics, and global re-localization into a closed loop to counter catastrophic divergence in monocular pipelines under fast motion. Its visual module tracks object masks to handle partial and severe occlusions; a kinematic factor graph regularizes frame-to-frame updates, predicts forward poses, and drives parallel multi-hypothesis verification to avoid local minima; and an active re-localization module gives the system failure awareness and deterministic self-recovery.

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