Recent learning methods for object pose estimation require resource-intensive training for
each individual object instance or category hampering their scalability in real applications …

Object pose estimation is an essential computer vision problem in many robot systems. It is
usually approached by estimating a single pose with an associated score, however, a score …

Object pose distribution estimation is crucial in robotics for better path planning and
handling of symmetric objects. Recent distribution estimation approaches employ …

In many automation tasks involving manipulation of rigid objects, the poses of the objects
must be acquired. Vision-based pose estimation using a single RGB or RGB-D sensor is …

Purpose Accurate 6D object pose estimation is essential for various robotic tasks. Uncertain
pose estimates can lead to task failures; however, a certain degree of error in the pose …

Currently, 6D pose estimation methods are benchmarked on datasets that consider, for their
ground truth annotations, visual ambiguities as only related to global object symmetries …

Calibration of fixtures in robotic work cells is essential but also time consuming and error-
prone, and poor calibration can easily lead to wasted debugging time in down-stream tasks …

This paper presents a method for in-hand pose refinement using point pair features and
robust estimation. The algorithm assumes that an initial pose distribution is available, and …