Related papers: SA6D: Self-Adaptive Few-Shot 6D Pose Estimator for…
In the field of computer vision, 6D object detection and pose estimation are critical for applications such as robotics, augmented reality, and autonomous driving. Traditional methods often struggle with achieving high accuracy in both…
Few-shot object detection~(FSOD), which aims to detect novel objects with limited annotated instances, has made significant progress in recent years. However, existing methods still suffer from biased representations, especially for novel…
Object location prior is critical for the standard 6D object pose estimation setting. The prior can be used to initialize the 3D object translation and facilitate 3D object rotation estimation. Unfortunately, the object detectors that are…
Object pose estimation is an important component of most vision pipelines for embodied agents, as well as in 3D vision more generally. In this paper we tackle the problem of estimating the pose of novel object categories in a zero-shot…
6D pose estimation is crucial for augmented reality, virtual reality, robotic manipulation and visual navigation. However, the problem is challenging due to the variety of objects in the real world. They have varying 3D shape and their…
We introduce FocalPose, a neural render-and-compare method for jointly estimating the camera-object 6D pose and camera focal length given a single RGB input image depicting a known object. The contributions of this work are twofold. First,…
Estimating the 6D object pose is an essential task in many applications. Due to the lack of depth information, existing RGB-based methods are sensitive to occlusion and illumination changes. How to extract and utilize the geometry features…
Detecting objects and their 6D poses from only RGB images is an important task for many robotic applications. While deep learning methods have made significant progress in visual object detection and segmentation, the object pose estimation…
Object detection is a critical field in computer vision focusing on accurately identifying and locating specific objects in images or videos. Traditional methods for object detection rely on large labeled training datasets for each object…
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…
In the context of future manufacturing lines, removing fixtures will be a fundamental step to increase the flexibility of autonomous systems in assembly and logistic operations. Vision-based 3D pose estimation is a necessity to accurately…
Accurately recovering 6D poses in densely packed industrial bin-picking environments remain a serious challenge, owing to occlusions, reflections, and textureless parts. We introduce a holistic depth-only 6D pose estimation approach that…
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. Despite the significant progress of 6D pose estimation methods, their…
In the robotic industry, specular and textureless metallic components are ubiquitous. The 6D pose estimation of such objects with only a monocular RGB camera is difficult because of the absence of rich texture features. Furthermore, the…
Estimating the pose of an unseen object is the goal of the challenging one-shot pose estimation task. Previous methods have heavily relied on feature matching with great success. However, these methods are often inefficient and limited by…
Estimating the 6D pose of objects from RGBD data is a fundamental problem in computer vision, with applications in robotics and augmented reality. A key challenge is achieving generalization to novel objects that were not seen during…
The point pair feature (PPF) is widely used for 6D pose estimation. In this paper, we propose an efficient 6D pose estimation method based on the PPF framework. We introduce a well-targeted down-sampling strategy that focuses more on edge…
3D hand-object pose estimation is an important issue to understand the interaction between human and environment. Current hand-object pose estimation methods require detailed 3D labels, which are expensive and labor-intensive. To tackle the…
We present DeSOPE, a large-scale dataset for 6DoF deformed objects. Most 6D object pose methods assume rigid or articulated objects, an assumption that fails in practice as objects deviate from their canonical shapes due to wear, impact, or…
The proposed system outlined in this paper is a solution to a use case that requires the autonomous picking of cuboidal objects from an organized or unorganized pile with high precision. This paper presents an efficient method for precise…