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 implementations
YCB-Video
REAL275
HomebrewedDB
ApolloCar3D
NERDS 360
CORSMAL
SMOT
Most implemented papers
Sub-frame Appearance and 6D Pose Estimation of Fast Moving Objects
rozumden/deblatting_python
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CVPR 2020
We propose a novel method that tracks fast moving objects, mainly non-uniform spherical, in full 6 degrees of freedom, estimating simultaneously their 3D motion trajectory, 3D pose and object appearance changes with a time step that is a fraction of the video frame exposure time.
FS-Net: Fast Shape-based Network for Category-Level 6D Object Pose Estimation with Decoupled Rotation Mechanism
In this paper, we focus on category-level 6D pose and size estimation from monocular RGB-D image.
Wide-Depth-Range 6D Object Pose Estimation in Space
cvlab-epfl/wide-depth-range-pose
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CVPR 2021
6D pose estimation in space poses unique challenges that are not commonly encountered in the terrestrial setting.
MarkerPose: Robust Real-time Planar Target Tracking for Accurate Stereo Pose Estimation
In this work, we propose MarkerPose, a robust, real-time pose estimation system based on a planar target of three circles and a stereo vision system.
SO-Pose: Exploiting Self-Occlusion for Direct 6D Pose Estimation
shangbuhuan13/so-pose
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ICCV 2021
Directly regressing all 6 degrees-of-freedom (6DoF) for the object pose (e. g. the 3D rotation and translation) in a cluttered environment from a single RGB image is a challenging problem.
Templates for 3D Object Pose Estimation Revisited: Generalization to New Objects and Robustness to Occlusions
nv-nguyen/template-pose
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CVPR 2022
It relies on a small set of training objects to learn local object representations, which allow us to locally match the input image to a set of "templates", rendered images of the CAD models for the new objects.
ShAPO: Implicit Representations for Multi-Object Shape, Appearance, and Pose Optimization
A novel disentangled shape and appearance database of priors is first learned to embed objects in their respective shape and appearance space.
Rigidity-Aware Detection for 6D Object Pose Estimation
yanghai-1218/radet
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CVPR 2023
To address this, we propose a rigidity-aware detection method exploiting the fact that, in 6D pose estimation, the target objects are rigid.
SSD-6D: Making RGB-based 3D detection and 6D pose estimation great again
wadimkehl/ssd-6d
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ICCV 2017
We present a novel method for detecting 3D model instances and estimating their 6D poses from RGB data in a single shot.
BOP: Benchmark for 6D Object Pose Estimation
We propose a benchmark for 6D pose estimation of a rigid object from a single RGB-D input image.
