October 13, 2025Open Access

ActivePose: Active 6D Object Pose Estimation and Tracking for Robotic Manipulation

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ActivePose significantly improves 6D object pose estimation and tracking, addressing viewpoint-induced ambiguities.
Experiments demonstrated superior performance compared to classical methods, particularly in dynamic environments.
The approach utilizes a vision-language model to evaluate ambiguity and determine optimal camera views for accurate tracking.
An active pose tracking module maintains object visibility using a trained diffusion-policy to generate effective camera trajectories.

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Active pose estimation combines a vision-language model with dynamic ambiguity resolution, enhancing tracking for robotic manipulation.

Liu et al. (2025) studied this question.

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