相关论文: IKEA Object State Dataset: A 6DoF object pose esti…

Accurate 6D pose estimation of complex objects in 3D environments is essential for effective robotic manipulation. Yet, existing benchmarks fall short in evaluating 6D pose estimation methods under realistic industrial conditions, as most…

Six degree of freedom (6DoF) pose estimation for novel objects is a critical task in computer vision, yet it faces significant challenges in high-speed and low-light scenarios where standard RGB cameras suffer from motion blur. While event…

Scene understanding is essential in determining how intelligent robotic grasping and manipulation could get. It is a problem that can be approached using different techniques: seen object segmentation, unseen object segmentation, or 6D pose…

Accurate 3D object pose estimation is key to enabling many robotic applications that involve challenging object interactions. In this work, we show that the density field created by a state-of-the-art efficient radiance field reconstruction…

This paper proposes a category-level 6D object pose and shape estimation approach iCaps, which allows tracking 6D poses of unseen objects in a category and estimating their 3D shapes. We develop a category-level auto-encoder network using…

Existing object pose estimation datasets are related to generic object types and there is so far no dataset for fine-grained object categories. In this work, we introduce a new large dataset to benchmark pose estimation for fine-grained…

6D object pose estimation aims at determining an object's translation, rotation, and scale, typically from a single RGBD image. Recent advancements have expanded this estimation from instance-level to category-level, allowing models to…

6D pose recognition has been a crucial factor in the success of robotic grasping, and recent deep learning based approaches have achieved remarkable results on benchmarks. However, their generalization capabilities in real-world…

6D object pose estimation has been a research topic in the field of computer vision and robotics. Many modern world applications like robot grasping, manipulation, autonomous navigation etc, require the correct pose of objects present in a…

Estimating the 6D pose of objects is beneficial for robotics tasks such as transportation, autonomous navigation, manipulation as well as in scenarios beyond robotics like virtual and augmented reality. With respect to single image pose…

Estimating the 6D pose for unseen objects is in great demand for many real-world applications. However, current state-of-the-art pose estimation methods can only handle objects that are previously trained. In this paper, we propose a new…

We introduce the new setting of open-vocabulary object 6D pose estimation, in which a textual prompt is used to specify the object of interest. In contrast to existing approaches, in our setting (i) the object of interest is specified…

In this work, we introduce the task of 3D object instance re-localization (RIO): given one or multiple objects in an RGB-D scan, we want to estimate their corresponding 6DoF poses in another 3D scan of the same environment taken at a later…

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…

We introduce YCB-Ev SD, a synthetic dataset of event-camera data at standard definition (SD) resolution for 6DoF object pose estimation. While synthetic data has become fundamental in frame-based computer vision, event-based vision lacks…

Inferring the 6DoF pose of an object from a single RGB image is an important but challenging task, especially under heavy occlusion. While recent approaches improve upon the two stage approaches by training an end-to-end pipeline, they do…

We present a new, publicly-available image dataset generated by the NVIDIA Deep Learning Data Synthesizer intended for use in object detection, pose estimation, and tracking applications. This dataset contains 144k stereo image pairs that…

This paper introduces the Australian Supermarket Object Set (ASOS), a comprehensive dataset comprising 50 readily available supermarket items with high-quality 3D textured meshes designed for benchmarking in robotics and computer vision…

6D object pose estimation problem has been extensively studied in the field of Computer Vision and Robotics. It has wide range of applications such as robot manipulation, augmented reality, and 3D scene understanding. With the advent of…

During the design phase of products and before going into production, it is necessary to verify the presence of mechanical plays, tolerances, and encumbrances on production mockups. This work introduces a multi-modal system that allows…