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
Drunkard's Dataset
Latest papers
HouseCat6D -- A Large-Scale Multi-Modal Category Level 6D Object Perception Dataset with Household Objects in Realistic Scenarios
Estimating 6D object poses is a major challenge in 3D computer vision.
PoET: Pose Estimation Transformer for Single-View, Multi-Object 6D Pose Estimation
aau-cns/poet
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It is a challenging task due to object symmetries, clutter and occlusion, but it becomes more challenging when additional information, such as depth and 3D models, is not provided.
Video based Object 6D Pose Estimation using Transformers
We introduce a Transformer based 6D Object Pose Estimation framework VideoPose, comprising an end-to-end attention based modelling architecture, that attends to previous frames in order to estimate accurate 6D Object Poses in videos.
Self-Supervised Geometric Correspondence for Category-Level 6D Object Pose Estimation in the Wild
While 6D object pose estimation has wide applications across computer vision and robotics, it remains far from being solved due to the lack of annotations.
CASAPose: Class-Adaptive and Semantic-Aware Multi-Object Pose Estimation
Applications in the field of augmented reality or robotics often require joint localisation and 6D pose estimation of multiple objects.
DCL-Net: Deep Correspondence Learning Network for 6D Pose Estimation
Establishment of point correspondence between camera and object coordinate systems is a promising way to solve 6D object poses.
KRF: Keypoint Refinement with Fusion Network for 6D Pose Estimation
zhanhz/krf
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The CIKP method introduces color information into registration and registers point cloud around each keypoint to increase stability.
Imitrob: Imitation Learning Dataset for Training and Evaluating 6D Object Pose Estimators
imitrob/imitrob_dataset_code
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This paper introduces a dataset for training and evaluating methods for 6D pose estimation of hand-held tools in task demonstrations captured by a standard RGB camera.
Robust Category-Level 6D Pose Estimation with Coarse-to-Fine Rendering of Neural Features
We consider the problem of category-level 6D pose estimation from a single RGB image.
6IMPOSE: Bridging the Reality Gap in 6D Pose Estimation for Robotic Grasping
hp-cao/6impose
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To overcome this gap, we introduce 6IMPOSE, a novel framework for sim-to-real data generation and 6D pose estimation.
