Bundlesdf: Neural 6-dof tracking and 3d reconstruction of unknown objects
We present a near real-time (10Hz) method for 6-DoF tracking of an unknown object from a
monocular RGBD video sequence, while simultaneously performing neural 3D …
monocular RGBD video sequence, while simultaneously performing neural 3D …
Challenges for monocular 6d object pose estimation in robotics
Object pose estimation is a core perception task that enables, for example, object
manipulation and scene understanding. The widely available, inexpensive, and high …
manipulation and scene understanding. The widely available, inexpensive, and high …
Rekep: Spatio-temporal reasoning of relational keypoint constraints for robotic manipulation
Representing robotic manipulation tasks as constraints that associate the robot and the
environment is a promising way to encode desired robot behaviors. However, it remains …
environment is a promising way to encode desired robot behaviors. However, it remains …
Foundationpose: Unified 6d pose estimation and tracking of novel objects
We present FoundationPose a unified foundation model for 6D object pose estimation and
tracking supporting both model-based and model-free setups. Our approach can be instantly …
tracking supporting both model-based and model-free setups. Our approach can be instantly …
Cnos: A strong baseline for cad-based novel object segmentation
We propose a simple yet powerful method to segment novel objects in RGB images from
their CAD models. Leveraging recent foundation models, Segment Anything and DINOv2 …
their CAD models. Leveraging recent foundation models, Segment Anything and DINOv2 …
A survey of 6dof object pose estimation methods for different application scenarios
J Guan, Y Hao, Q Wu, S Li, Y Fang - Sensors, 2024 - mdpi.com
Recently, 6DoF object pose estimation has become increasingly important for a broad range
of applications in the fields of virtual reality, augmented reality, autonomous driving, and …
of applications in the fields of virtual reality, augmented reality, autonomous driving, and …
NeuralFeels with neural fields: Visuotactile perception for in-hand manipulation
To achieve human-level dexterity, robots must infer spatial awareness from multimodal
sensing to reason over contact interactions. During in-hand manipulation of novel objects …
sensing to reason over contact interactions. During in-hand manipulation of novel objects …
Foundpose: Unseen object pose estimation with foundation features
We propose FoundPose, a model-based method for 6D pose estimation of unseen objects
from a single RGB image. The method can quickly onboard new objects using their 3D …
from a single RGB image. The method can quickly onboard new objects using their 3D …
Sam-6d: Segment anything model meets zero-shot 6d object pose estimation
Zero-shot 6D object pose estimation involves the detection of novel objects with their 6D
poses in cluttered scenes presenting significant challenges for model generalizability …
poses in cluttered scenes presenting significant challenges for model generalizability …
BOP Challenge 2023 on Detection Segmentation and Pose Estimation of Seen and Unseen Rigid Objects
We present the evaluation methodology datasets and results of the BOP Challenge 2023 the
fifth in a series of public com-petitions organized to capture the state of the art in model …
fifth in a series of public com-petitions organized to capture the state of the art in model …