6D Pose Estimation

100 papers with code • 5 benchmarks • 17 datasets

Image: Zeng et al

Libraries

Use these libraries to find 6D Pose Estimation models and implementations

Most implemented papers

PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenes

yuxng/PoseCNN 1 Nov 2017

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.

DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusion

j96w/DenseFusion CVPR 2019

A key technical challenge in performing 6D object pose estimation from RGB-D image is to fully leverage the two complementary data sources.

Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimation

hughw19/NOCS_CVPR2019 CVPR 2019

The goal of this paper is to estimate the 6D pose and dimensions of unseen object instances in an RGB-D image.

Estimating 6D Pose From Localizing Designated Surface Keypoints

sjtuytc/betapose 4 Dec 2018

In this paper, we present an accurate yet effective solution for 6D pose estimation from an RGB image.

Segmentation-driven 6D Object Pose Estimation

cvlab-epfl/segmentation-driven-pose CVPR 2019

The most recent trend in estimating the 6D pose of rigid objects has been to train deep networks to either directly regress the pose from the image or to predict the 2D locations of 3D keypoints, from which the pose can be obtained using a PnP algorithm.

Pix2Pose: Pixel-Wise Coordinate Regression of Objects for 6D Pose Estimation

kirumang/Pix2Pose ICCV 2019

Estimating the 6D pose of objects using only RGB images remains challenging because of problems such as occlusion and symmetries.

BOP Challenge 2020 on 6D Object Localization

thodan/bop_toolkit 15 Sep 2020

This paper presents the evaluation methodology, datasets, and results of the BOP Challenge 2020, the third in a series of public competitions organized with the goal to capture the status quo in the field of 6D object pose estimation from an RGB-D image.

PVN3D: A Deep Point-wise 3D Keypoints Voting Network for 6DoF Pose Estimation

ethnhe/PVN3D CVPR 2020

Our method is a natural extension of 2D-keypoint approaches that successfully work on RGB based 6DoF estimation.

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

ylabbe/cosypose ECCV 2020

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.

EfficientPose: An efficient, accurate and scalable end-to-end 6D multi object pose estimation approach

ybkscht/EfficientPose 9 Nov 2020

Through the inherent handling of multiple objects and instances and the fused single shot 2D object detection as well as 6D pose estimation, our approach runs even with multiple objects (eight) end-to-end at over 26 FPS, making it highly attractive to many real world scenarios.