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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
FoundationPose: Unified 6D Pose Estimation and Tracking of Novel ObjectsCode4
EPro-PnP: Generalized End-to-End Probabilistic Perspective-n-Points for Monocular Object Pose EstimationCode3
EPro-PnP: Generalized End-to-End Probabilistic Perspective-n-Points for Monocular Object Pose EstimationCode3
BOP Challenge 2020 on 6D Object LocalizationCode2
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
SAM-6D: Segment Anything Model Meets Zero-Shot 6D Object Pose EstimationCode2
RePOSE: Fast 6D Object Pose Refinement via Deep Texture RenderingCode1
Pseudo Flow Consistency for Self-Supervised 6D Object Pose EstimationCode1
Revisiting Fully Convolutional Geometric Features for Object 6D Pose EstimationCode1
Large-scale 6D Object Pose Estimation Dataset for Industrial Bin-PickingCode1
PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered ScenesCode1
PVNet: Pixel-wise Voting Network for 6DoF Pose EstimationCode1
Real-time Holistic Robot Pose Estimation with Unknown StatesCode1
Particle-based 6D Object Pose Estimation from Point Clouds using Diffusion ModelsCode1
G2L-Net: Global to Local Network for Real-time 6D Pose Estimation with Embedding Vector FeaturesCode1
Perspective Flow Aggregation for Data-Limited 6D Object Pose EstimationCode1
Occlusion-Aware Self-Supervised Monocular 6D Object Pose EstimationCode1
Depth-based 6DoF Object Pose Estimation using Swin TransformerCode1
EPOS: Estimating 6D Pose of Objects with SymmetriesCode1
FS-Net: Fast Shape-based Network for Category-Level 6D Object Pose Estimation with Decoupled Rotation MechanismCode1
OVE6D: Object Viewpoint Encoding for Depth-based 6D Object Pose EstimationCode1
Ground-aware Monocular 3D Object Detection for Autonomous DrivingCode1
HybridPose: 6D Object Pose Estimation under Hybrid RepresentationsCode1
DeepIM: Deep Iterative Matching for 6D Pose EstimationCode1
NeuSurfEmb: A Complete Pipeline for Dense Correspondence-based 6D Object Pose Estimation without CAD ModelsCode1
BOP: Benchmark for 6D Object Pose EstimationCode1
Occlusion-Robust Object Pose Estimation with Holistic RepresentationCode1
Learning Symmetry-Aware Geometry Correspondences for 6D Object Pose EstimationCode1
Linear-Covariance Loss for End-to-End Learning of 6D Pose EstimationCode1
CASAPose: Class-Adaptive and Semantic-Aware Multi-Object Pose EstimationCode1
BundleTrack: 6D Pose Tracking for Novel Objects without Instance or Category-Level 3D ModelsCode1
GDRNPP: A Geometry-guided and Fully Learning-based Object Pose EstimatorCode1
CosyPose: Consistent multi-view multi-object 6D pose estimationCode1
CullNet: Calibrated and Pose Aware Confidence Scores for Object Pose EstimationCode1
CRT-6D: Fast 6D Object Pose Estimation with Cascaded Refinement TransformersCode1
Deep Fusion Transformer Network with Weighted Vector-Wise Keypoints Voting for Robust 6D Object Pose EstimationCode1
DCL-Net: Deep Correspondence Learning Network for 6D Pose EstimationCode1
3D Neural Embedding Likelihood: Probabilistic Inverse Graphics for Robust 6D Pose EstimationCode1
DexYCB: A Benchmark for Capturing Hand Grasping of ObjectsCode1
DR-Pose: A Two-stage Deformation-and-Registration Pipeline for Category-level 6D Object Pose EstimationCode1
EfficientPose: An efficient, accurate and scalable end-to-end 6D multi object pose estimation approachCode1
Coupled Iterative Refinement for 6D Multi-Object Pose EstimationCode1
Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size EstimationCode1
FS6D: Few-Shot 6D Pose Estimation of Novel ObjectsCode1
Confronting Ambiguity in 6D Object Pose Estimation via Score-Based Diffusion on SE(3)Code1
Generating Annotated Training Data for 6D Object Pose Estimation in Operational Environments with Minimal User InteractionCode1
GPV-Pose: Category-level Object Pose Estimation via Geometry-guided Point-wise VotingCode1
GSNet: Joint Vehicle Pose and Shape Reconstruction with Geometrical and Scene-aware SupervisionCode1
Omni6D: Large-Vocabulary 3D Object Dataset for Category-Level 6D Object Pose EstimationCode1
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