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6D Pose Estimation using RGB

6D Pose Estimation using RGB refers to the task of determining the six degree-of-freedom (6D) pose of an object in 3D space based on RGB images. This involves estimating the position and orientation of an object in a scene, and is a fundamental problem in computer vision and robotics. In this task, the goal is to estimate the 6D pose of an object given an RGB image of the object and the scene, which can be used for tasks such as robotic manipulation, augmented reality, and scene reconstruction.

( Image credit: Segmentation-driven 6D Object Pose Estimation )

Papers

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Showing 1–50 of 233 papers

TitleStatusHype
SenseShift6D: Multimodal RGB-D Benchmarking for Robust 6D Pose Estimation across Environment and Sensor VariationsCode0
Monocular One-Shot Metric-Depth Alignment for RGB-Based Robot Grasping—0
UA-Pose: Uncertainty-Aware 6D Object Pose Estimation and Online Object Completion with Partial References—0
Category-Level 6D Object Pose Estimation in Agricultural Settings Using a Lattice-Deformation Framework and Diffusion-Augmented Synthetic Data—0
One2Any: One-Reference 6D Pose Estimation for Any Object—0
Category-Level and Open-Set Object Pose Estimation for Robotics—0
BOP Challenge 2024 on Model-Based and Model-Free 6D Object Pose Estimation—0
PhysPose: Refining 6D Object Poses with Physical Constraints—0
Vanishing Depth: A Depth Adapter with Positional Depth Encoding for Generalized Image EncodersCode0
Any6D: Model-free 6D Pose Estimation of Novel Objects—0
Multi-Modal 3D Mesh Reconstruction from Images and Text—0
AxisPose: Model-Free Matching-Free Single-Shot 6D Object Pose Estimation via Axis Generation—0
Improving 6D Object Pose Estimation of metallic Household and Industry Objects—0
EfficientPose 6D: Scalable and Efficient 6D Object Pose Estimation—0
Enhancing Transparent Object Pose Estimation: A Fusion of GDR-Net and Edge Detection—0
HIPPo: Harnessing Image-to-3D Priors for Model-free Zero-shot 6D Pose Estimation—0
ONDA-Pose: Occlusion-Aware Neural Domain Adaptation for Self-Supervised 6D Object Pose Estimation—0
Pos3R: 6D Pose Estimation for Unseen Objects Made Easy—0
SCFlow2: Plug-and-Play Object Pose Refiner with Shape-Constraint Scene Flow—0
A Novel Convolution and Attention Mechanism-based Model for 6D Object Pose Estimation—0
Level-Set Parameters: Novel Representation for 3D Shape AnalysisCode0
Category Level 6D Object Pose Estimation from a Single RGB Image using Diffusion—0
Targeted Hard Sample Synthesis Based on Estimated Pose and Occlusion Error for Improved Object Pose Estimation—0
6DOPE-GS: Online 6D Object Pose Estimation using Gaussian Splatting—0
Particle-based 6D Object Pose Estimation from Point Clouds using Diffusion ModelsCode1
GMFlow: Global Motion-Guided Recurrent Flow for 6D Object Pose Estimation—0
GS2Pose: Two-stage 6D Object Pose Estimation Guided by Gaussian Splatting—0
CVAM-Pose: Conditional Variational Autoencoder for Multi-Object Monocular Pose EstimationCode0
Omni6D: Large-Vocabulary 3D Object Dataset for Category-Level 6D Object Pose EstimationCode1
FAST GDRNPP: Improving the Speed of State-of-the-Art 6D Object Pose Estimation—0
End-to-End Probabilistic Geometry-Guided Regression for 6DoF Object Pose Estimation—0
From Words to Poses: Enhancing Novel Object Pose Estimation with Vision Language Models—0
Certifying Robustness of Learning-Based Keypoint Detection and Pose Estimation Methods—0
NeuSurfEmb: A Complete Pipeline for Dense Correspondence-based 6D Object Pose Estimation without CAD ModelsCode1
NeRF-Feat: 6D Object Pose Estimation using Feature Rendering—0
Omni6DPose: A Benchmark and Model for Universal 6D Object Pose Estimation and Tracking—0
Sparse Color-Code Net: Real-Time RGB-Based 6D Object Pose Estimation on Edge Devices—0
Instance-Adaptive and Geometric-Aware Keypoint Learning for Category-Level 6D Object Pose EstimationCode2
YOLOv5-6D: Advancing 6-DoF Instrument Pose Estimation in Variable X-Ray Imaging GeometriesCode2
HOIDiffusion: Generating Realistic 3D Hand-Object Interaction Data—0
GenFlow: Generalizable Recurrent Flow for 6D Pose Refinement of Novel Objects—0
GS-Pose: Generalizable Segmentation-based 6D Object Pose Estimation with 3D Gaussian Splatting—0
BOP Challenge 2023 on Detection, Segmentation and Pose Estimation of Seen and Unseen Rigid Objects—0
Uncertainty Quantification with Deep Ensembles for 6D Object Pose Estimation—0
Improving 2D-3D Dense Correspondences with Diffusion Models for 6D Object Pose Estimation—0
Real-time Holistic Robot Pose Estimation with Unknown StatesCode1
Extending 6D Object Pose Estimators for Stereo Vision—0
6D-Diff: A Keypoint Diffusion Framework for 6D Object Pose Estimation—0
Three-Filters-to-Normal+: Revisiting Discontinuity Discrimination in Depth-to-Normal Translation—0
FoundationPose: Unified 6D Pose Estimation and Tracking of Novel ObjectsCode4
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