6D Pose Estimation
96 papers with code • 5 benchmarks • 17 datasets
Image: Zeng et al
Benchmarks
These leaderboards are used to track progress in 6D Pose Estimation
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Libraries
Use these libraries to find 6D Pose Estimation models and implementationsDatasets
YCB-Video
REAL275
HomebrewedDB
ApolloCar3D
NERDS 360
CORSMAL
3D-BSLS-6D
Latest papers with no code
FreeZe: Training-free zero-shot 6D pose estimation with geometric and vision foundation models
We also introduce a novel algorithm to solve ambiguous cases due to geometrically symmetric objects that is based on visual features.
FoundPose: Unseen Object Pose Estimation with Foundation Features
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.
Jenga Stacking Based on 6D Pose Estimation for Architectural Form Finding Process
This paper includes a review of current state of the art 6d pose estimation methods, as well as a discussion of which pose estimation method should be used in two types of architectural design scenarios.
FSD: Fast Self-Supervised Single RGB-D to Categorical 3D Objects
In this work, we address the challenging task of 3D object recognition without the reliance on real-world 3D labeled data.
Industrial Application of 6D Pose Estimation for Robotic Manipulation in Automotive Internal Logistics
A key component to competitively automate these processes is a 6D pose estimation that can handle a large number of different parts, is adaptable to new parts with little manual effort, and is sufficiently accurate and robust with respect to industry requirements.
ZS6D: Zero-shot 6D Object Pose Estimation using Vision Transformers
The state-of-the-art 6D object pose estimation methods rely on object-specific training and therefore do not generalize to unseen objects.
ViHOPE: Visuotactile In-Hand Object 6D Pose Estimation with Shape Completion
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.
SA6D: Self-Adaptive Few-Shot 6D Pose Estimator for Novel and Occluded Objects
To enable meaningful robotic manipulation of objects in the real-world, 6D pose estimation is one of the critical aspects.
Polarimetric Information for Multi-Modal 6D Pose Estimation of Photometrically Challenging Objects with Limited Data
6D pose estimation pipelines that rely on RGB-only or RGB-D data show limitations for photometrically challenging objects with e. g. textureless surfaces, reflections or transparency.
Instance segmentation based 6D pose estimation of industrial objects using point clouds for robotic bin-picking
3D object pose estimation for robotic grasping and manipulation is a crucial task in the manufacturing industry.
