Instance-level 6D object pose tracking involves tracking a known object in 3D space and estimating its six degrees of freedom (6DoF) pose across consecutive images, starting from the initial pose in the first frame. This technology has wide-ranging applications in various fields, including robotics, augmented reality, and human–machine interaction. Over the years, significant progress has been made in this field. Many methods tackle the problem of instance-level 6D pose tracking from RGB images. These techniques can be classified based on their use of keypoints, edges, region information or direct optimization. Additionally, the availability of affordable RGB-D sensors has prompted the utilization of depth data for 6D pose tracking. Another notable advancement is the adoption of deep neural networks, which have shown promising results. Despite these developments, survey studies on the latest advancements in this field are lacking. Therefore, this work aims to fill this gap by providing a comprehensive review of recent progress in instance-level 6D object tracking, covering the aforementioned advancements. This paper provides a detailed examination of metrics, datasets, and methodology employed in this field. Based on the problem modeling approach, methods reviewed in this paper are categorized into optimization-based, learning-based, filtering-based approaches and hybrid approaches that combine various techniques. Furthermore, quantitative results on several publicly available datasets are presented and analyzed, along with applications and open challenges for future research directions.
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