FoundPose: Unseen Object Pose Estimation with Foundation Features

no code implementations • 30 Nov 2023 • Evin Pınar Örnek, Yann Labbé, Bugra Tekin, Lingni Ma, Cem Keskin, Christian Forster, Tomas Hodan

Pose hypotheses are then generated from 2D-3D correspondences established by matching DINOv2 patch features between the query image and a retrieved template, and finally optimized by featuremetric refinement.

6D Pose Estimation Object +1

FocalPose++: Focal Length and Object Pose Estimation via Render and Compare

1 code implementation • 15 Nov 2023 • Martin Cífka, Georgy Ponimatkin, Yann Labbé, Bryan Russell, Mathieu Aubry, Vladimir Petrik, Josef Sivic

We introduce FocalPose++, a neural render-and-compare method for jointly estimating the camera-object 6D pose and camera focal length given a single RGB input image depicting a known object.

Object Pose Estimation

MegaPose: 6D Pose Estimation of Novel Objects via Render & Compare

no code implementations • 13 Dec 2022 • Yann Labbé, Lucas Manuelli, Arsalan Mousavian, Stephen Tyree, Stan Birchfield, Jonathan Tremblay, Justin Carpentier, Mathieu Aubry, Dieter Fox, Josef Sivic

Second, we introduce a novel approach for coarse pose estimation which leverages a network trained to classify whether the pose error between a synthetic rendering and an observed image of the same object can be corrected by the refiner.

6D Pose Estimation Object

Focal Length and Object Pose Estimation via Render and Compare

2 code implementations • CVPR 2022 • Georgy Ponimatkin, Yann Labbé, Bryan Russell, Mathieu Aubry, Josef Sivic

We introduce FocalPose, a neural render-and-compare method for jointly estimating the camera-object 6D pose and camera focal length given a single RGB input image depicting a known object.

Object Pose Estimation +1

Single-view robot pose and joint angle estimation via render & compare

no code implementations • CVPR 2021 • Yann Labbé, Justin Carpentier, Mathieu Aubry, Josef Sivic

We introduce RoboPose, a method to estimate the joint angles and the 6D camera-to-robot pose of a known articulated robot from a single RGB image.

Pose Estimation Robot Pose Estimation

CosyPose: Consistent multi-view multi-object 6D pose estimation

3 code implementations • ECCV 2020 • Yann Labbé, Justin Carpentier, Mathieu Aubry, Josef Sivic

Second, we develop a robust method for matching individual 6D object pose hypotheses across different input images in order to jointly estimate camera viewpoints and 6D poses of all objects in a single consistent scene.

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

Monte-Carlo Tree Search for Efficient Visually Guided Rearrangement Planning

2 code implementations • 23 Apr 2019 • Yann Labbé, Sergey Zagoruyko, Igor Kalevatykh, Ivan Laptev, Justin Carpentier, Mathieu Aubry, Josef Sivic

We address the problem of visually guided rearrangement planning with many movable objects, i. e., finding a sequence of actions to move a set of objects from an initial arrangement to a desired one, while relying on visual inputs coming from an RGB camera.