DLR-RM/3DObjectTracking

Health v2 · maintenance only

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1027 stars · 182 forks observed · 2026-08-28

What it is AI-extracted, prompt v1, taxonomy v1, 2026-08-30, confidence not recorded

A collection of C++ implementations of 3D object tracking algorithms from DLR research, including region-based 6DoF trackers (RBGT, SRT3D, ICG, ICG+, Mb-ICG, M3T) that estimate object poses from RGB and depth images. It accompanies peer-reviewed publications and provides code to reproduce their results.

Use cases

• track 3d objects in real time from rgbd camera frames
• estimate 6dof pose of textureless objects
• track articulated objects and kinematic structures
• robotic perception for object manipulation
• augmented reality object tracking
• reproduce results from published tracking papers

When to choose

• you need real-time 6DoF pose tracking of known 3D meshes from RGB or RGB-D input
• you want to track articulated or multi-body kinematic structures
• you want research-grade trackers with reproducible paper results
• you are doing robotic manipulation and need object pose feedback

When to avoid

• you need out-of-the-box detection of unknown objects without a 3D model
• you want a maintained production SDK with long-term support guarantees
• you need a Python-first or deep-learning-based tracker
• your project requires a permissive license beyond MIT obligations

Facets

library · maturity active

computer-vision image-processing machine-learning computer-vision robotics artificial-intelligence cpp cross-platform 3d-object-tracking pose-estimation 6dof rgbd real-time research-code articulated-objects multi-body-tracking linux

Member repositories

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markdown · JSON · MCP: product_card(name="DLR-RM/3DObjectTracking")