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

- Source: arXiv cs.RO
- Published: 2026-10-22T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/dkj1p2ac6bd8ybzzggxrn3nqz
- Original: https://arxiv.org/abs/2610.28962

## Summary

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.