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We present a new method for estimating the 6D pose of rigid objects with available 3D models from a single RGB input image.
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Matching with PROSAC – Progressive sample consensus
Ondrej Chum and Jiri Matas · 2005
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Partial and approximate symmetry detection for 3D geometry
Niloy J Mitra, Leonidas J Guibas, and Mark Pauly · 2006
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Template matching techniques in computer vision: Theory and practice
Roberto Brunelli · 2009
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EPnP: An accurate O(n) solution to the PnP problem
Vincent Lepetit, Francesc Moreno-Noguer, and Pascal Fua · 2009
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Model globally, match locally: Efficient and robust 3D object recognition
Bertram Drost, Markus Ulrich, Nassir Navab, and Slobodan Ilic · 2010
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The MOPED framework: Object recognition and pose estimation for manipulation
Alvaro Collet, Manuel Martinez, and Siddhartha S Srinivasa · 2011
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Three-dimensional proper and improper rotation matrices
H. Haber · 2011
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A direct least-squares (DLS) method for PnP
Joel A Hesch and Stergios I Roumeliotis · 2011
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A novel parametrization of the perspective-three-point problem for a direct computation of absolute camera position and orientation
Laurent Kneip, Davide Scaramuzza, and Roland Siegwart · 2011
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Model based training, detection and pose estimation of texture-less 3D objects in heavily cluttered scenes
S. Hinterstoisser, V. Lepetit, S. Ilic, S. Holzer, G. Bradski, K. Konolige, and N. Navab · 2012
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Energy-based geometric multi-model fitting
Hossam Isack and Yuri Boykov · 2012
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Indoor segmentation and support inference from RGBD images
Nathan Silberman, Derek Hoiem, Pushmeet Kohli, and Rob Fergus · 2012
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BOLD features to detect texture-less objects
Federico Tombari, Alessandro Franchi, and Luigi Di Stefano · 2013
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Learning 6D object pose estimation using 3D object coordinates
Eric Brachmann, Alexander Krull, Frank Michel, Stefan Gumhold, Jamie Shotton, and Carsten Rother · 2014
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Microsoft COCO: Common objects in context
Tsung-Yi Lin, Michael Maire, Serge Belongie, James Hays, Pietro Perona, Deva Ramanan, Piotr Dollár, and C Lawrence Zitnick · 2014
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Latent-class hough forests for 3D object detection and pose estimation
Alykhan Tejani, Danhang Tang, Rigas Kouskouridas, and Tae-Kyun Kim · 2014
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Detection and fine 3D pose estimation of texture-less objects in RGB-D images
Tomáš Hodaň, Xenophon Zabulis, Manolis Lourakis, Štěpán Obdržálek, and Jiří Matas · 2015
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Learning analysis-by-synthesis for 6D pose estimation in RGB-D images
Alexander Krull, Eric Brachmann, Frank Michel, Michael Ying Yang, Stefan Gumhold, and Carsten Rother · 2015
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Deep learning
Ian Goodfellow, Yoshua Bengio, and Aaron Courville · 2016
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A comprehensive performance evaluation of 3D local feature descriptors
Yulan Guo, Mohammed Bennamoun, Ferdous Sohel, Min Lu, Jianwei Wan, and Ngai Ming Kwok · 2016
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Going further with point pair features
Stefan Hinterstoisser, Vincent Lepetit, Naresh Rajkumar, and Kurt Konolige · 2016
DeepIM: Deep iterative matching for 6D pose estimation
Yi Li, Gu Wang, Xiangyang Ji, Yu Xiang, and Dieter Fox · 2018
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Deep model-based 6D pose refinement in RGB
Fabian Manhardt, Wadim Kehl, Nassir Navab, and Federico Tombari · 2018
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Detect globally, label locally: Learning accurate 6-DOF object pose estimation by joint segmentation and coordinate regression
Apurv Nigam, Adrian Penate-Sanchez, and Lourdes Agapito · 2018
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Making deep heatmaps robust to partial occlusions for 3D object pose estimation
Markus Oberweger, Mahdi Rad, and Vincent Lepetit · 2018
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Multi-task deep networks for depth-based 6D object pose and joint registration in crowd scenarios
Juil Sock, Kwang In Kim, Caner Sahin, and Tae-Kyun Kim · 2018
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Real-time seamless single shot 6D object pose prediction
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On evaluation of 6D object pose estimation
Tomáš Hodaň, Jiří Matas, and Štěpán Obdržálek · 2016
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Xception: Deep learning with depthwise separable convolutions
François Chollet · 2017
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Robust 3D object tracking from monocular images using stable parts
Alberto Crivellaro, Mahdi Rad, Yannick Verdie, Kwang Moo Yi, Pascal Fua, and Vincent Lepetit · 2017
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Introducing MVTec ITODD – A dataset for 3D object recognition in industry
Bertram Drost, Markus Ulrich, Paul Bergmann, Philipp Hartinger, and Carsten Steger · 2017
Cited alongside, same era.
T-LESS: An RGB-D dataset for 6D pose estimation of texture-less objects
Tomáš Hodaň, Pavel Haluza, Štěpán Obdržálek, Jiří Matas, Manolis Lourakis, and Xenophon Zabulis · 2017
Cited alongside, same era.
SSD-6D: Making RGB-based 3D detection and 6D pose estimation great again
Wadim Kehl, Fabian Manhardt, Federico Tombari, Slobodan Ilic, and Nassir Navab · 2017
Cited alongside, same era.
Bugra Tekin, Sudipta N Sinha, and Pascal Fua · 2018
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Deep object pose estimation for semantic robotic grasping of household objects
Jonathan Tremblay, Thang To, Balakumar Sundaralingam, Yu Xiang, Dieter Fox, and Stan Birchfield · 2018
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A method for 6D pose estimation of free-form rigid objects using point pair features on range data
Joel Vidal, Chyi-Yeu Lin, Xavier Lladó, and Robert Martí · 2018
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PoseCNN: A convolutional neural network for 6D object pose estimation in cluttered scenes
Yu Xiang, Tanner Schmidt, Venkatraman Narayanan, and Dieter Fox · 2018
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Progressive-X: Efficient, anytime, multi-model fitting algorithm
Daniel Barath and Jiri Matas · 2019
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DeepHMap++: Combined projection grouping and correspondence learning for full DoF pose estimation
Mingliang Fu and Weijia Zhou · 2019
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BOP Challenge 2019
Tomáš Hodaň, Eric Brachmann, Bertram Drost, Frank Michel, Martin Sundermeyer, Jiří Matas, and Carsten Rother · 2019
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Photorealistic image synthesis for object instance detection
Tomáš Hodaň, Vibhav Vineet, Ran Gal, Emanuel Shalev, Jon Hanzelka, Treb Connell, Pedro Urbina, Sudipta Sinha, and Brian Guenter · 2019
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Segmentation-driven 6D object pose estimation
Yinlin Hu, Joachim Hugonot, Pascal Fua, and Mathieu Salzmann · 2019
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CDPN: Coordinates-based disentangled pose network for real-time RGB-based 6-DoF object pose estimation
Zhigang Li, Gu Wang, and Xiangyang Ji · 2019
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Explaining the ambiguity of object detection and 6D pose from visual data
Fabian Manhardt, Diego Martin Arroyo, Christian Rupprecht, Benjamin Busam, Nassir Navab, and Federico Tombari · 2019
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Pix2Pose: Pixel-wise coordinate regression of objects for 6D pose estimation
Kiru Park, Timothy Patten, and Markus Vincze · 2019
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PVNet: Pixel-wise voting network for 6DoF pose estimation
Sida Peng, Yuan Liu, Qixing Huang, Xiaowei Zhou, and Hujun Bao · 2019
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On object symmetries and 6D pose estimation from images
Giorgia Pitteri, Michaël Ramamonjisoa, Slobodan Ilic, and Vincent Lepetit · 2019
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Deep segmentation leverages geometric pose estimation in computer-aided total knee arthroplasty
Pedro Rodrigues, Michel Antunes, Carolina Raposo, Pedro Marques, Fernando Fonseca, and Joao Barreto · 2019
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Augmented autoencoders: Implicit 3D orientation learning for 6D object detection
Martin Sundermeyer, Zoltan-Csaba Marton, Maximilian Durner, and Rudolph Triebel · 2019
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DenseFusion: 6D object pose estimation by iterative dense fusion
Chen Wang, Danfei Xu, Yuke Zhu, Roberto Martín-Martín, Cewu Lu, Li Fei-Fei, and Silvio Savarese · 2019
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DPOD: 6D pose object detector and refiner
Sergey Zakharov, Ivan Shugurov, and Slobodan Ilic · 2019
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