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Given a single scene image, this paper proposes a method of Category-level 6D Object Pose and Size Estimation (COPSE) from the point cloud of the target object, without external real pose-annotated training data.
A generalized solution of the orthogonal procrustes problem
Peter H Schönemann · 1966
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Least-squares estimation of transformation parameters between two point patterns
S. Umeyama · 1991
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David G Lowe · 1999
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Symmetric piecewise planar object reconstruction from a single image
Tianfan Xue, Jianzhuang Liu, and Xiaoou Tang · 2011
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Model based training, detection and pose estimation of texture-less 3d objects in heavily cluttered scenes
Stefan Hinterstoisser, Vincent Lepetit, Slobodan Ilic, Stefan Holzer, Gary Bradski, Kurt Konolige, and Nassir Navab · 2012
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Model based training, detection and pose estimation of texture-less 3d objects in heavily cluttered scenes
Stefan Hinterstoisser, Vincent Lepetit, Slobodan Ilic, Stefan Holzer, Gary Bradski, Kurt Konolige, and Nassir Navab · 2012
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Three-dimensional object reconstruction of symmetric objects by fusing visual and tactile sensing
Jarmo Ilonen, Jeannette Bohg, and Ville Kyrki · 2014
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Shapenet: An information-rich 3d model repository
Angel X Chang, Thomas Funkhouser, Leonidas Guibas, Pat Hanrahan, Qixing Huang, Zimo Li, Silvio Savarese, Manolis Savva, Shuran Song, Hao Su, et al · 2015
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Posenet: A convolutional network for real-time 6-dof camera relocalization
Alex Kendall, Matthew Grimes, and Roberto Cipolla · 2015
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Pose estimation for augmented reality: a hands-on survey
Eric Marchand, Hideaki Uchiyama, and Fabien Spindler · 2015
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Reflection symmetry detection using locally affine invariant edge correspondence
Zhaozhong Wang, Zesheng Tang, and Xiao Zhang · 2015
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Real-time scalable 6dof pose estimation for textureless objects
Zhe Cao, Yaser Sheikh, and Natasha Kholgade Banerjee · 2016
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Surface-based detection and 6-dof pose estimation of 3-d objects in cluttered scenes
Zhou Teng and Jing Xiao · 2016
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A point set generation network for 3d object reconstruction from a single image
Haoqiang Fan, Hao Su, and Leonidas J Guibas · 2017
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2017 iccv challenge: Detecting symmetry in the wild
Christopher Funk, Seungkyu Lee, Martin R Oswald, Stavros Tsogkas, Wei Shen, Andrea Cohen, Sven Dickinson, and Yanxi Liu · 2017
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Mask r-cnn
Kaiming He, Georgia Gkioxari, Piotr Dollár, and Ross Girshick · 2017
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Reflection symmetry axes detection using multiple model fitting
Rajendra Nagar and Shanmuganathan Raman · 2017
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6-dof object pose from semantic keypoints
Georgios Pavlakos, Xiaowei Zhou, Aaron Chan, Konstantinos G Derpanis, and Kostas Daniilidis · 2017
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Pointnet: Deep learning on point sets for 3d classification and segmentation
Charles R Qi, Hao Su, Kaichun Mo, and Leonidas J Guibas · 2017
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Bb8: A scalable, accurate, robust to partial occlusion method for predicting the 3d poses of challenging objects without using depth
Mahdi Rad and Vincent Lepetit · 2017
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Sum: Sequential scene understanding and manipulation
Zhiqiang Sui, Zheming Zhou, Zhen Zeng, and Odest Chadwicke Jenkins · 2017
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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 · 2017
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Deepim: Deep iterative matching for 6d pose estimation
Yi Li, Gu Wang, Xiangyang Ji, Yu Xiang, and Dieter Fox · 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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6d object pose regression via supervised learning on point clouds
Ge Gao, Mikko Lauri, Yulong Wang, Xiaolin Hu, Jianwei Zhang, and Simone Frintrop · 2020
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Pvn3d: A deep point-wise 3d keypoints voting network for 6dof pose estimation
Yisheng He, Wei Sun, Haibin Huang, Jianran Liu, Haoqiang Fan, and Jian Sun · 2020
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Single-stage 6d object pose estimation
Yinlin Hu, Pascal Fua, Wei Wang, and Mathieu Salzmann · 2020
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Pf-net: Point fractal network for 3d point cloud completion
Zitian Huang, Yikuan Yu, Jiawen Xu, Feng Ni, and Xinyi Le · 2020
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An analysis of svd for deep rotation estimation
Jake Levinson, Carlos Esteves, Kefan Chen, Noah Snavely, Angjoo Kanazawa, Afshin Rostamizadeh, and Ameesh Makadia · 2020
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Category-level 6d object pose recovery in depth images
Caner Sahin and Tae-Kyun Kim · 2018
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Real-time seamless single shot 6d object pose prediction
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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Canonical surface mapping via geometric cycle consistency
Nilesh Kulkarni, Abhinav Gupta, and Shubham Tulsiani · 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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kpam: Keypoint affordances for category-level robotic manipulation
Lucas Manuelli, Wei Gao, Peter Florence, and Russ Tedrake · 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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Convolution in the cloud: Learning deformable kernels in 3d graph convolution networks for point cloud analysis
Zhi-Hao Lin, Sheng-Yu Huang, and Yu-Chiang Frank Wang · 2020
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A review on object pose recovery: from 3d bounding box detectors to full 6d pose estimators
Caner Sahin, Guillermo Garcia-Hernando, Juil Sock, and Tae-Kyun Kim · 2020
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Hybridpose: 6d object pose estimation under hybrid representations
Chen Song, Jiaru Song, and Qixing Huang · 2020
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Shape prior deformation for categorical 6d object pose and size estimation
Meng Tian, Marcelo H Ang Jr, and Gim Hee Lee · 2020
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Morefusion: Multi-object reasoning for 6d pose estimation from volumetric fusion
Kentaro Wada, Edgar Sucar, Stephen James, Daniel Lenton, and Andrew J Davison · 2020
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6-pack: Category-level 6d pose tracker with anchor-based keypoints
Chen Wang, Roberto Martín-Martín, Danfei Xu, Jun Lv, Cewu Lu, Li Fei-Fei, Silvio Savarese, and Yuke Zhu · 2020
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Unsupervised learning of probably symmetric deformable 3d objects from images in the wild
Shangzhe Wu, Christian Rupprecht, and Andrea Vedaldi · 2020
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Fs-net: Fast shape-based network for category-level 6d object pose estimation with decoupled rotation mechanism
Wei Chen, Xi Jia, Hyung Jin Chang, Jinming Duan, Linlin Shen, and Ales Leonardis · 2021
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Poserbpf: A rao–blackwellized particle filter for 6-d object pose tracking
Xinke Deng, Arsalan Mousavian, Yu Xiang, Fei Xia, Timothy Bretl, and Dieter Fox · 2021
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Cloudaae: Learning 6d object pose regression with on-line data synthesis on point clouds
Ge Gao, Mikko Lauri, Xiaolin Hu, Jianwei Zhang, and Simone Frintrop · 2021
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Ffb6d: A full flow bidirectional fusion network for 6d pose estimation
Yisheng He, Haibin Huang, Haoqiang Fan, Qifeng Chen, and Jian Sun · 2021
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Category-level metric scale object shape and pose estimation
Taeyeop Lee, Byeong-Uk Lee, Myungchul Kim, and In So Kweon · 2021
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Dualposenet: Category-level 6d object pose and size estimation using dual pose network with refined learning of pose consistency
Jiehong Lin, Zewei Wei, Zhihao Li, Songcen Xu, Kui Jia, and Yuanqing Li · 2021
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Stablepose: Learning 6d object poses from geometrically stable patches
Yifei Shi, Junwen Huang, Xin Xu, Yifan Zhang, and Kai Xu · 2021
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Bundletrack: 6d pose tracking for novel objects without instance or category-level 3d models
B Wen and Kostas E Bekris · 2021
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Captra: Category-level pose tracking for rigid and articulated objects from point clouds
Yijia Weng, He Wang, Qiang Zhou, Yuzhe Qin, Yueqi Duan, Qingnan Fan, Baoquan Chen, Hao Su, and Leonidas J. Guibas · 2021
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