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This paper presents a system that can efficiently detect objects and estimate their 6D postures with RGB-D and motion sensor data on a mobile device. We apply a template-based method to detect the pose of an object, in which the matching process is accelerated through dimension reduction of the vectorized template matrix. After getting the initial pose, the proposed system then tracks the detected objects by a modified bidirectional iterative closest point algorithm. Furthermore, our systemdoi:10.5220/0007692603750382 dblp:conf/grapp/HuangHLTLLL19 fatcat:5wlk63dsrfepbgtbl3ab3ijkzu