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6D Pose Estimation using RGB

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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.

<span style="color:grey; opacity: 0.6">( Image credit: Segmentation-driven 6D Object Pose Estimation )</span>

논문

이 태스크와 하위 분야의 관련 논문입니다. 실제 성능 비교는 평가 결과에서 확인하세요.

6D Pose Estimation using RGB

논문

SenseShift6D: Multimodal RGB-D Benchmarking for Robust 6D Pose Estimation across Environment and Sensor Variations

Monocular One-Shot Metric-Depth Alignment for RGB-Based Robot Grasping

UA-Pose: Uncertainty-Aware 6D Object Pose Estimation and Online Object Completion with Partial References

Category-Level 6D Object Pose Estimation in Agricultural Settings Using a Lattice-Deformation Framework and Diffusion-Augmented Synthetic Data

One2Any: One-Reference 6D Pose Estimation for Any Object

Category-Level and Open-Set Object Pose Estimation for Robotics

BOP Challenge 2024 on Model-Based and Model-Free 6D Object Pose Estimation

PhysPose: Refining 6D Object Poses with Physical Constraints

Vanishing Depth: A Depth Adapter with Positional Depth Encoding for Generalized Image Encoders

Any6D: Model-free 6D Pose Estimation of Novel Objects

Multi-Modal 3D Mesh Reconstruction from Images and Text

AxisPose: Model-Free Matching-Free Single-Shot 6D Object Pose Estimation via Axis Generation

Improving 6D Object Pose Estimation of metallic Household and Industry Objects

EfficientPose 6D: Scalable and Efficient 6D Object Pose Estimation

Enhancing Transparent Object Pose Estimation: A Fusion of GDR-Net and Edge Detection

HIPPo: Harnessing Image-to-3D Priors for Model-free Zero-shot 6D Pose Estimation

A Novel Convolution and Attention Mechanism-based Model for 6D Object Pose Estimation

Level-Set Parameters: Novel Representation for 3D Shape Analysis

Category Level 6D Object Pose Estimation from a Single RGB Image using Diffusion

Targeted Hard Sample Synthesis Based on Estimated Pose and Occlusion Error for Improved Object Pose Estimation

6DOPE-GS: Online 6D Object Pose Estimation using Gaussian Splatting

Particle-based 6D Object Pose Estimation from Point Clouds using Diffusion Models

GMFlow: Global Motion-Guided Recurrent Flow for 6D Object Pose Estimation

GS2Pose: Two-stage 6D Object Pose Estimation Guided by Gaussian Splatting

CVAM-Pose: Conditional Variational Autoencoder for Multi-Object Monocular Pose Estimation

Omni6D: Large-Vocabulary 3D Object Dataset for Category-Level 6D Object Pose Estimation

End-to-End Probabilistic Geometry-Guided Regression for 6DoF Object Pose Estimation

FAST GDRNPP: Improving the Speed of State-of-the-Art 6D Object Pose Estimation

From Words to Poses: Enhancing Novel Object Pose Estimation with Vision Language Models

Certifying Robustness of Learning-Based Keypoint Detection and Pose Estimation Methods

NeuSurfEmb: A Complete Pipeline for Dense Correspondence-based 6D Object Pose Estimation without CAD Models

NeRF-Feat: 6D Object Pose Estimation using Feature Rendering

Omni6DPose: A Benchmark and Model for Universal 6D Object Pose Estimation and Tracking

Sparse Color-Code Net: Real-Time RGB-Based 6D Object Pose Estimation on Edge Devices

Instance-Adaptive and Geometric-Aware Keypoint Learning for Category-Level 6D Object Pose Estimation

YOLOv5-6D: Advancing 6-DoF Instrument Pose Estimation in Variable X-Ray Imaging Geometries