Influence of Background Color on 6D Pose Tracking Accuracy

Fast 6D pose tracking is a critical component in numerous applications ranging from robotics to augmented reality. A notable method for addressing this challenge involves simulating the last known pose and comparing it with the current one, a process central to the SE(3)-TrackNet approach, which is known for its reliability. Traditionally, this method employs a uniform black background for the simulated input. This study challenges the standard practice by demonstrating that the choice of background color can significantly influences the accuracy of 6D pose estimation. Through a series of experiments, we provide results showing that background color is a critical factor for the effectiveness of the SE(3) TrackNet approach.