6D Pose Estimation using RGBD
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Benchmarks
REAL275
YCB-Video
LineMOD
CAMERA25
OccludedLINEMOD
T-LESS
Tejani
Most implemented
PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenes
DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusion
BOP Challenge 2020 on 6D Object Localization
Robust 6DoF Pose Estimation Against Depth Noise and a Comprehensive Evaluation on a Mobile Dataset
Papers
Robust 6DoF Pose Estimation Against Depth Noise and a Comprehensive Evaluation on a Mobile Dataset
Robust 6DoF pose estimation with mobile devices is the foundation for applications in robotics, augmented reality, and digital twin localization. In this paper, we extensively investigate the robustness of existing RGBD-…
3D Object Detection3D Object Tracking6D Pose Estimation6D Pose Estimation using RGBD+3Enhancing 6-DoF Object Pose Estimation through Multiple Modality Fusion: A Hybrid CNN Architecture with Cross-Layer and Cross-Modal Integration
Recently, applying the utilization of RGB-D data for robot perception tasks has garnered significant attention in domains like robotics and autonomous driving. However, a prominent challenge in this field lies in the sub…
6D Pose Estimation6D Pose Estimation using RGBDAutonomous DrivingPose Estimation+1The Drunkard's Odometry: Estimating Camera Motion in Deforming Scenes
Estimating camera motion in deformable scenes poses a complex and open research challenge. Most existing non-rigid structure from motion techniques assume to observe also static scene parts besides deforming scene parts …
6D Pose Estimation using RGBDOptical Flow EstimationVisual NavigationGenPose: Generative Category-level Object Pose Estimation via Diffusion Models
Object pose estimation plays a vital role in embodied AI and computer vision, enabling intelligent agents to comprehend and interact with their surroundings. Despite the practicality of category-level pose estimation, cu…
6D Pose Estimation6D Pose Estimation using RGBDObjectPose Estimation+1BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objects
We present a near real-time method for 6-DoF tracking of an unknown object from a monocular RGBD video sequence, while simultaneously performing neural 3D reconstruction of the object. Our method works for arbitrary rigi…
3D Object Detection3D Object Tracking3D Reconstruction6D Pose Estimation+4Fusing Visual Appearance and Geometry for Multi-modality 6DoF Object Tracking
In many applications of advanced robotic manipulation, six degrees of freedom (6DoF) object pose estimates are continuously required. In this work, we develop a multi-modality tracker that fuses information from visual a…
3D Object Tracking6D Pose Estimation6D Pose Estimation using RGBDObject+1