6D Pose Estimation
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Benchmarks
Most implemented
PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenes
Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimation
DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusion
Estimating 6D Pose From Localizing Designated Surface Keypoints
BOP Challenge 2020 on 6D Object Localization
Segmentation-driven 6D Object Pose Estimation
Papers
CLON: Cue-Calibrated Linguistic Object Onboarding for Zero-Shot 6D Pose Front-Ends
Zero-shot 6D pose estimation pipelines increasingly rely on strong downstream pose solvers, but their performance is often limited by the front-end: object proposals must preserve partially visible true positives while r…
6D Pose EstimationTransBiolab: A Real-World Multi-View Dataset of Cluttered Transparent Biomedical Objects
Autonomous biomedical laboratories increasingly rely on visual perception to recognize, localize, and manipulate transparent plasticware, yet high-quality real-world datasets for this setting remain limited. The scarcity…
Robot Manipulation6D Pose EstimationDepth EstimationPIXIE: A Zero-Shot texture-invariant 6D pose estimation framework for unseen objects with assembly defects
6D pose estimation remains a key challenge in robotics and computer vision, particularly in industrial environments. The deployment of currently available data-driven methods is often limited by resource-intensive data p…
6D Pose EstimationGAP-GDRNet: Geometry-aware monocular 6D pose estimation for spacecraft using synthetic geometric supervision
Monocular spacecraft 6D pose estimation remains difficult under weak texture, thin structures, illumination variation, and occlusion. This article presents GAP-GDRNet, a geometry-aware RGB framework built on GDR-Net for …
6D Pose EstimationFlow6D: Discrete-to-Continuous Flow Matching for Efficient and Accurate Category-Level 6D Pose Estimation
6D pose estimation is a key task in computer vision and embodied AI, widely used in robotic manipulation, augmented reality, etc. Existing methods directly regress in a high-dimensional continuous space, facing two key c…
6D Pose EstimationLearning Cross-View Semantic Priors for Single-Reference Unseen Object Pose Estimation
Single-reference unseen object 6D pose estimation reduces object onboarding by estimating poses of arbitrary novel objects from only one reference view. Recent correspondence-based pipelines have achieved robust performa…
6D Pose Estimation