Related papers: ZeroPose: CAD-Prompted Zero-shot Object 6D Pose Es…
In this paper we present a novel deep learning method for 3D object detection and 6D pose estimation from RGB images. Our method, named DPOD (Dense Pose Object Detector), estimates dense multi-class 2D-3D correspondence maps between an…
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…
Accurate 6D pose estimation is essential for robotic manipulation in industrial environments. Existing pipelines typically rely on off-the-shelf object detectors followed by cropping and pose refinement, but their performance degrades under…
This work proposes a process for efficiently searching over combinations of individual object 6D pose hypotheses in cluttered scenes, especially in cases involving occlusions and objects resting on each other. The initial set of candidate…
Estimating the 6D pose of objects using only RGB images remains challenging because of problems such as occlusion and symmetries. It is also difficult to construct 3D models with precise texture without expert knowledge or specialized…
We propose a fast and accurate 6D object pose estimation from a RGB-D image. Our proposed method is template matching based and consists of three main technical components, PCOF-MOD (multimodal PCOF), balanced pose tree (BPT) and optimum…
Object localization, and more specifically object pose estimation, in large industrial spaces such as warehouses and production facilities, is essential for material flow operations. Traditional approaches rely on artificial artifacts…
Reconstructing the motion of objects from videos is a key component for embodied AI and robot manipulation. While diverse approaches to object pose tracking have been studied, they rely heavily on strong external priors, such as depth data…
Object pose estimation is a fundamental task in 3D vision with applications in robotics, AR/VR, and scene understanding. We address the challenge of category-level 9-DoF pose estimation (6D pose + 3Dsize) from RGB-D input, without relying…
Applications in the field of augmented reality or robotics often require joint localisation and 6D pose estimation of multiple objects. However, most algorithms need one network per object class to be trained in order to provide the best…
Estimating the pose of objects through vision is essential to make robotic platforms interact with the environment. Yet, it presents many challenges, often related to the lack of flexibility and generalizability of state-of-the-art…
This paper presents a novel approach to estimating the continuous six degree of freedom (6-DoF) pose (3D translation and rotation) of an object from a single RGB image. The approach combines semantic keypoints predicted by a convolutional…
Object pose estimation is a fundamental computer vision problem with broad applications in augmented reality and robotics. Over the past decade, deep learning models, due to their superior accuracy and robustness, have increasingly…
Robotic insertion is a highly challenging task that requires exceptional precision in cluttered environments. Existing methods often have poor generalization capabilities. They typically function in restricted and structured environments,…
Estimating 6D poses of objects is an essential computer vision task. However, most conventional approaches rely on camera data from a single perspective and therefore suffer from occlusions. We overcome this issue with our novel multi-view…
6-DoF pose estimation is a fundamental task in computer vision with wide-ranging applications in augmented reality and robotics. Existing single RGB-based methods often compromise accuracy due to their reliance on initial pose estimates and…
This study addresses the challenge of accurate 6D pose estimation in Augmented Reality (AR), a critical component for seamlessly integrating virtual objects into real-world environments. Our research primarily addresses the difficulty of…
Compared to 2D object bounding-box labeling, it is very difficult for humans to annotate 3D object poses, especially when depth images of scenes are unavailable. This paper investigates whether we can estimate the object poses effectively…
6D object pose estimation is an important task that determines the 3D position and 3D rotation of an object in camera-centred coordinates. By utilizing such a task, one can propose promising solutions for various problems related to scene…
We consider the problem of 3D object pose estimation. While much recent work has focused on the RGB domain, the reliance on accurately annotated images limits their generalizability and scalability. On the other hand, the easily available…