6D Pose Estimation using RGB
6D pose estimation is the task of detecting the 6D pose of an object, which include its location and orientation. This is an important task in robotics, where a robotic arm needs to know the location and orientation to detect and move objects in its vicinity successfully. This allows the robot to operate safely and effectively alongside humans. The awareness of the position and orientation of objects in a scene is sometimes referred to as 6D, where the D stands for degrees of freedom pose.
( Image credit: Segmentation-driven 6D Object Pose Estimation )
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Greatest papers with code
PVNet: Pixel-wise Voting Network for 6DoF Pose Estimation
We further create a Truncation LINEMOD dataset to validate the robustness of our approach against truncation.
#2 best model for
6D Pose Estimation using RGB
on YCB-Video
(Mean AUC metric)
PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenes
• yuxng/PoseCNN
• 
We conduct extensive experiments on our YCB-Video dataset and the OccludedLINEMOD dataset to show that PoseCNN is highly robust to occlusions, can handle symmetric objects, and provide accurate pose estimation using only color images as input.
SOTA for 6D Pose Estimation using RGBD on YCB-Video (Mean ADD-S metric )
6D POSE ESTIMATION 6D POSE ESTIMATION USING RGB 6D POSE ESTIMATION USING RGBD
Real-Time Seamless Single Shot 6D Object Pose Prediction
CVPR 2018
• Microsoft/singleshotpose
• 
For single object and multiple object pose estimation on the LINEMOD and OCCLUSION datasets, our approach substantially outperforms other recent CNN-based approaches when they are all used without post-processing.
BB8: A Scalable, Accurate, Robust to Partial Occlusion Method for Predicting the 3D Poses of Challenging Objects without Using Depth
ICCV 2017
• Microsoft/singleshotpose
•
We introduce a novel method for 3D object detection and pose estimation from color images only.
#11 best model for
6D Pose Estimation using RGB
on LineMOD
SSD-6D: Making RGB-based 3D detection and 6D pose estimation great again
ICCV 2017
• wadimkehl/ssd-6d
•
We present a novel method for detecting 3D model instances and estimating their 6D poses from RGB data in a single shot.
HybridPose: 6D Object Pose Estimation under Hybrid Representations
Compared to a unitary representation, our hybrid representation allows pose regression to exploit more and diverse features when one type of predicted representation is inaccurate (e. g., because of occlusion).
Implicit 3D Orientation Learning for 6D Object Detection from RGB Images
ECCV 2018
• DLR-RM/AugmentedAutoencoder
•
Our novel 3D orientation estimation is based on a variant of the Denoising Autoencoder that is trained on simulated views of a 3D model using Domain Randomization.
6D POSE ESTIMATION 6D POSE ESTIMATION USING RGB DENOISING OBJECT DETECTION
DeepIM: Deep Iterative Matching for 6D Pose Estimation
ECCV 2018
• liyi14/mx-DeepIM
• 
Estimating the 6D pose of objects from images is an important problem in various applications such as robot manipulation and virtual reality.
Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimation
CVPR 2019 2019
• hughw19/NOCS_CVPR2019
•
The goal of this paper is to estimate the 6D pose and dimensions of unseen object instances in an RGB-D image.
Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimation
CVPR 2019
• hughw19/NOCS_CVPR2019
•
The goal of this paper is to estimate the 6D pose and dimensions of unseen object instances in an RGB-D image.