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Long Chen

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Open access Aug 2026

FreeTrack6d: a training-free framework for 6D pose tracking and robotic grasping of moving objects on conveyor belts

FreeTrack6D, a training-free unified segmentation and 6D pose tracking framework integrating frame-wise mask generation, multi-hypothesis pose refinement, motion prediction, observation gating, and visual-servo-based robot control, forms a closed-loop training-free dynamic grasping framework.

Zongwang Han, Long Chen, Shiqi Wu · Engineering Research Express · 0 citations