6D Pose Estimation

96 papers with code • 5 benchmarks • 16 datasets

Image: Zeng et al

Libraries

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

SD-Net: Symmetric-Aware Keypoint Prediction and Domain Adaptation for 6D Pose Estimation In Bin-picking Scenarios

dingthuang/sd-net 14 Mar 2024

Specifically, at the keypoint prediction stage, we designe a robust 3D keypoints selection strategy considering the symmetry class of objects and equivalent keypoints, which facilitate locating 3D keypoints even in highly occluded scenes.

4
14 Mar 2024

GBOT: Graph-Based 3D Object Tracking for Augmented Reality-Assisted Assembly Guidance

roth-hex-lab/gbot 12 Feb 2024

Augmented reality assembly guidance requires 6D object poses of target objects in real time.

3
12 Feb 2024

STAR: Shape-focused Texture Agnostic Representations for Improved Object Detection and 6D Pose Estimation

hoenigpeter/randomized_texturing 7 Feb 2024

To achieve a focus on learning shape features, the textures are randomized during the rendering of the training data.

0
07 Feb 2024

FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objects

NVlabs/FoundationPose 13 Dec 2023

We present FoundationPose, a unified foundation model for 6D object pose estimation and tracking, supporting both model-based and model-free setups.

367
13 Dec 2023

PViT-6D: Overclocking Vision Transformers for 6D Pose Estimation with Confidence-Level Prediction and Pose Tokens

Wiqzard/PViT-6D 29 Nov 2023

In the current state of 6D pose estimation, top-performing techniques depend on complex intermediate correspondences, specialized architectures, and non-end-to-end algorithms.

1
29 Nov 2023

NormNet: Scale Normalization for 6D Pose Estimation in Stacked Scenarios

shuttlet/normnet 15 Nov 2023

Existing Object Pose Estimation (OPE) methods for stacked scenarios are not robust to changes in object scale.

2
15 Nov 2023

Enhancing 6-DoF Object Pose Estimation through Multiple Modality Fusion: A Hybrid CNN Architecture with Cross-Layer and Cross-Modal Integration

wangzihanggg/CMCL6D Machines 2023

To tackle this challenge, we proposed a pioneering two-stage hybrid Convolutional Neural Network (CNN) architecture, which connects segmentation and pose estimation in tandem.

13
06 Sep 2023

Revisiting Fully Convolutional Geometric Features for Object 6D Pose Estimation

jcorsetti/fcgf6d 28 Jul 2023

Recent works on 6D object pose estimation focus on learning keypoint correspondences between images and object models, and then determine the object pose through RANSAC-based algorithms or by directly regressing the pose with end-to-end optimisations.

6
28 Jul 2023

SyMFM6D: Symmetry-aware Multi-directional Fusion for Multi-View 6D Object Pose Estimation

boschresearch/symfm6d 1 Jul 2023

Detecting objects and estimating their 6D poses is essential for automated systems to interact safely with the environment.

9
01 Jul 2023

Manifold-Aware Self-Training for Unsupervised Domain Adaptation on Regressing 6D Object Pose

gorilla-lab-scut/mast 18 May 2023

Domain gap between synthetic and real data in visual regression (e. g. 6D pose estimation) is bridged in this paper via global feature alignment and local refinement on the coarse classification of discretized anchor classes in target space, which imposes a piece-wise target manifold regularization into domain-invariant representation learning.

4
18 May 2023