ViHOPE: Visuotactile In-Hand Object 6D Pose Estimation with Shape Completion

no code implementations • 11 Sep 2023 • Hongyu Li, Snehal Dikhale, Soshi Iba, Nawid Jamali

By explicitly completing the shape of the in-hand object and jointly optimizing the shape completion and pose estimation tasks, we improve the accuracy of the 6D object pose estimate.

6D Pose Estimation Generative Adversarial Network +1

Hierarchical Graph Neural Networks for Proprioceptive 6D Pose Estimation of In-hand Objects

no code implementations • 28 Jun 2023 • Alireza Rezazadeh, Snehal Dikhale, Soshi Iba, Nawid Jamali

We evaluate our model on a diverse subset of objects from the YCB Object and Model Set, and show that our method substantially outperforms existing state-of-the-art work in accuracy and robustness to occlusion.

6D Pose Estimation 6D Pose Estimation using RGB +1