Related papers: DISP6D: Disentangled Implicit Shape and Pose Learn…

Rotation estimation of high precision from an RGB-D object observation is a huge challenge in 6D object pose estimation, due to the difficulty of learning in the non-linear space of SO(3). In this paper, we propose a novel rotation…

Shape priors learned from data are commonly used to reconstruct 3D objects from partial or noisy data. Yet no such shape priors are available for indoor scenes, since typical 3D autoencoders cannot handle their scale, complexity, or…

Most recent 6D object pose estimation methods first use object detection to obtain 2D bounding boxes before actually regressing the pose. However, the general object detection methods they use are ill-suited to handle cluttered scenes, thus…

We propose FoundPose, a model-based method for 6D pose estimation of unseen objects from a single RGB image. The method can quickly onboard new objects using their 3D models without requiring any object- or task-specific training. In…

Autonomous systems need to understand the semantics and geometry of their surroundings in order to comprehend and safely execute object-level task specifications. This paper proposes an expressive yet compact model for joint object pose and…

6D object pose estimation is a prerequisite for many applications. In recent years, monocular pose estimation has attracted much research interest because it does not need depth measurements. In this work, we introduce ConvPoseCNN, a fully…

Posing 3D characters is a fundamental task in computer graphics. However, existing paradigms, ranging from traditional auto-rigging to recent pose-conditioned generative models, frequently struggle with inaccurate skinning weights, fixed…

In this paper, we propose an efficient end-to-end algorithm to tackle the problem of estimating the 6D pose of objects from a single RGB image. Our system trains a fully convolutional network to regress the 3D rotation and the 3D…

Most self-supervised 6D object pose estimation methods can only work with additional depth information or rely on the accurate annotation of 2D segmentation masks, limiting their application range. In this paper, we propose a 6D object pose…

Given an image dataset, we are often interested in finding data generative factors that encode semantic content independently from pose variables such as rotation and translation. However, current disentanglement approaches do not impose…

We introduce an unsupervised technique for encoding point clouds into a canonical shape representation, by disentangling shape and pose. Our encoder is stable and consistent, meaning that the shape encoding is purely pose-invariant, while…

Many object pose estimation algorithms rely on the analysis-by-synthesis framework which requires explicit representations of individual object instances. In this paper we combine a gradient-based fitting procedure with a parametric neural…

Zero-shot 6D object pose estimation involves the detection of novel objects with their 6D poses in cluttered scenes, presenting significant challenges for model generalizability. Fortunately, the recent Segment Anything Model (SAM) has…

We present 6-PACK, a deep learning approach to category-level 6D object pose tracking on RGB-D data. Our method tracks in real-time novel object instances of known object categories such as bowls, laptops, and mugs. 6-PACK learns to…

We present FoundationPose, a unified foundation model for 6D object pose estimation and tracking, supporting both model-based and model-free setups. Our approach can be instantly applied at test-time to a novel object without fine-tuning,…

6D object pose estimation remains challenging for many applications due to dependencies on complete 3D models, multi-view images, or training limited to specific object categories. These requirements make generalization to novel objects…

Disentangled Representation Learning aims to improve the explainability of deep learning methods by training a data encoder that identifies semantically meaningful latent variables in the data generation process. Nevertheless, there is no…

3D object detection and pose estimation from a single image are two inherently ambiguous problems. Oftentimes, objects appear similar from different viewpoints due to shape symmetries, occlusion and repetitive textures. This ambiguity in…

We present a new approach for representing and reconstructing multidimensional magnetic resonance imaging (MRI) data. Our method builds on a novel, learned feature-based image representation that disentangles different types of features,…

The capability of multi-robot SLAM approaches to merge localization history and maps from different observers is often challenged by the difficulty in establishing data association. Loop closure detection between perceptual inputs of…