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Estimating 6D object poses is a major challenge in 3D computer vision.
Closed-form solution of absolute orientation using orthonormal matrices
Berthold Horn, Hugh Hilden, and Shahriar Negahdaripour · 1988
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A new technique for fully autonomous and efficient 3 d robotics hand/eye calibration
Roger Y Tsai, Reimar K Lenz, et al · 1989
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Cps: Class-level 6d pose and shape estimation from monocular images
Fabian Manhardt, Manuel Nickel, Sven Meier, Luca Minciullo, and Nassir Navab · 2003
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Fabian Manhardt, Gu Wang, Benjamin Busam, Manuel Nickel, Sven Meier, Luca Minciullo, Xiangyang Ji, and Nassir Navab · 2003
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Temporal calibration in multisensor tracking setups
Manuel Huber, Michael Schlegel, and Gudrun Klinker · 2009
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Multimodal templates for real-time detection of texture-less objects in heavily cluttered scenes
Stefan Hinterstoisser, Stefan Holzer, Cedric Cagniart, Slobodan Ilic, Kurt Konolige, Nassir Navab, and Vincent Lepetit · 2011
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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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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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Benchmarking in manipulation research: The ycb object and model set and benchmarking protocols
Berk Calli, Aaron Walsman, Arjun Singh, Siddhartha Srinivasa, Pieter Abbeel, and Aaron M Dollar · 2015
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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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Precise haptic device co-location for visuo-haptic augmented reality
Ulrich Eck, Frieder Pankratz, Christian Sandor, Gudrun Klinker, and Hamid Laga · 2015
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Recovering 6d object pose and predicting next-best-view in the crowd
Andreas Doumanoglou, Rigas Kouskouridas, Sotiris Malassiotis, and Tae-Kyun Kim · 2016
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Multimodal us–gamma imaging using collaborative robotics for cancer staging biopsies
Marco Esposito, Benjamin Busam, Christoph Hennersperger, Julia Rackerseder, Nassir Navab, and Benjamin Frisch · 2016
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A dataset for improved rgbd-based object detection and pose estimation for warehouse pick-and-place
Colin Rennie, Rahul Shome, Kostas E Bekris, and Alberto F De Souza · 2016
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Structure-from-motion revisited
Johannes Lutz Schönberger and Jan-Michael Frahm · 2016
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Pixelwise view selection for unstructured multi-view stereo
Johannes Lutz Schönberger, Enliang Zheng, Marc Pollefeys, and Jan-Michael Frahm · 2016
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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
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T-less: An rgb-d dataset for 6d pose estimation of texture-less objects
Tomáš Hodan, Pavel Haluza, Štepán Obdržálek, Jiri Matas, Manolis Lourakis, and Xenophon Zabulis · 2017
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Dex-net 2.0: Deep learning to plan robust grasps with synthetic point clouds and analytic grasp metrics
Jeffrey Mahler, Jacky Liang, Sherdil Niyaz, Michael Laskey, Richard Doan, Xinyu Liu, Juan Aparicio Ojea, and Ken Goldberg · 2017
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Colored point cloud registration revisited
Jaesik Park, Qian-Yi Zhou, and Vladlen Koltun · 2017
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Charuco board-based omnidirectional camera calibration method
Gwon Hwan An, Siyeong Lee, Min-Woo Seo, Kugjin Yun, Won-Sik Cheong, and Suk-Ju Kang · 2018
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Real-world multiobject, multigrasp detection
Fu-Jen Chu, Ruinian Xu, and Patricio A Vela · 2018
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A framework for evaluating 6-DOF object trackers
Mathieu Garon, Denis Laurendeau, and Jean-François Lalonde · 2018
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Bop: Benchmark for 6d object pose estimation
Tomas Hodan, Frank Michel, Eric Brachmann, Wadim Kehl, Anders GlentBuch, Dirk Kraft, Bertram Drost, Joel Vidal, Stephan Ihrke, Xenophon Zabulis, et al · 2018
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Label fusion: A pipeline for generating ground truth labels for real rgbd data of cluttered scenes
Pat Marion, Peter R Florence, Lucas Manuelli, and Russ Tedrake · 2018
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Falling things: A synthetic dataset for 3d object detection and pose estimation
Teaser: Fast and certifiable point cloud registration
Heng Yang, Jingnan Shi, and Luca Carlone · 2020
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Objectron: A large scale dataset of object-centric videos in the wild with pose annotations
Adel Ahmadyan, Liangkai Zhang, Artsiom Ablavatski, Jianing Wei, and Matthias Grundmann · 2021
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Acronym: A large-scale grasp dataset based on simulation
Clemens Eppner, Arsalan Mousavian, and Dieter Fox · 2021
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Polarimetric pose prediction, 2021
Daoyi Gao, Yitong Li, Patrick Ruhkamp, Iuliia Skobleva, Magdalena Wysock, HyunJun Jung, Pengyuan Wang, Arturo Guridi, and Benjamin Busam · 2021
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Shape from polarization for complex scenes in the wild, 2021
Chenyang Lei, Chenyang Qi, Jiaxin Xie, Na Fan, Vladlen Koltun, and Qifeng Chen · 2021
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Dualposenet: Category-level 6d object pose and size estimation using dual pose network with refined learning of pose consistency
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Jonathan Tremblay, Thang To, and Stan Birchfield · 2018
Cited alongside, same era.
Posecnn: A convolutional neural network for 6d object pose estimation in cluttered scenes
Yu Xiang, Tanner Schmidt, Venkatraman Narayanan, and Dieter · 2018
Cited alongside, same era.
Homebreweddb: Rgb-d dataset for 6d pose estimation of 3d objects
Roman Kaskman, Sergey Zakharov, Ivan Shugurov, and Slobodan Ilic · 2019
Cited alongside, same era.
DeepIM: Deep iterative matching for 6d pose estimation
Yi Li, Gu Wang, Xiangyang Ji, Yu Xiang, and Dieter Fox · 2019
Cited alongside, same era.
Explaining the ambiguity of object detection and 6d pose from visual data
Fabian Manhardt, Diego Martin Arroyo, Christian Rupprecht, Benjamin Busam, Tolga Birdal, Nassir Navab, and Federico Tombari · 2019
Cited alongside, same era.
kpam: Keypoint affordances for category-level robotic manipulation
Lucas Manuelli, Wei Gao, Peter Florence, and Russ Tedrake · 2019
Cited alongside, same era.
6-dof graspnet: Variational grasp generation for object manipulation
Arsalan Mousavian, Clemens Eppner, and Dieter Fox · 2019
Cited alongside, same era.
Jiehong Lin, Zewei Wei, Zhihao Li, Songcen Xu, Kui Jia, and Yuanqing Li · 2021
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Stereobj-1m: Large-scale stereo image dataset for 6d object pose estimation
Xingyu Liu, Shun Iwase, and Kris M Kitani · 2021
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Isaac gym: High performance gpu-based physics simulation for robot learning, 2021
Viktor Makoviychuk, Lukasz Wawrzyniak, Yunrong Guo, Michelle Lu, Kier Storey, Miles Macklin, David Hoeller, Nikita Rudin, Arthur Allshire, Ankur Handa, and Gavriel State · 2021
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Demograsp: Few-shot learning for robotic grasping with human demonstration
Pengyuan Wang, Fabian Manhardt, Luca Minciullo, Lorenzo Garattoni, Sven Meier, Nassir Navab, and Benjamin Busam · 2021
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Gpv-pose: Category-level object pose estimation via geometry-guided point-wise voting
Yan Di, Ruida Zhang, Zhiqiang Lou, Fabian Manhardt, Xiangyang Ji, Nassir Navab, and Federico Tombari · 2022
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Yang Fu and Xiaolong Wang · 2022
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Centersnap: Single-shot multi-object 3d shape reconstruction and categorical 6d pose and size estimation
Muhammad Zubair Irshad, Thomas Kollar, Michael Laskey, Kevin Stone, and Zsolt Kira · 2022
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Is my depth ground-truth good enough? hammer – highly accurate multi-modal dataset for dense 3d scene regression, 2022
HyunJun Jung, Patrick Ruhkamp, Guangyao Zhai, Nikolas Brasch, Yitong Li, Yannick Verdie, Jifei Song, Yiren Zhou, Anil Armagan, Slobodan Ilic, Ales Leonardis, and Benjamin Busam · 2022
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6-dof pose estimation of household objects for robotic manipulation: An accessible dataset and benchmark
Stephen Tyree, Jonathan Tremblay, Thang To, Jia Cheng, Terry Mosier, Jeffrey Smith, and Stan Birchfield · 2022
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Cromo: Cross-modal learning for monocular depth estimation
Yannick Verdié, Jifei Song, Barnabé Mas, Benjamin Busam, Ales Leonardis, and Steven McDonagh · 2022
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Phocal: A multi-modal dataset for category-level object pose estimation with photometrically challenging objects
Pengyuan Wang, HyunJun Jung, Yitong Li, Siyuan Shen, Rahul Parthasarathy Srikanth, Lorenzo Garattoni, Sven Meier, Nassir Navab, and Benjamin Busam · 2022
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Transgrasp: Grasp pose estimation of a category of objects by transferring grasps from only one labeled instance
Hongtao Wen, Jianhang Yan, Wanli Peng, and Yi Sun · 2022
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Gknet: grasp keypoint network for grasp candidates detection
Ruinian Xu, Fu-Jen Chu, and Patricio A Vela · 2022
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Keypoint-graspnet: Keypoint-based 6-dof grasp generation from the monocular rgb-d input
Yiye Chen, Yunzhi Lin, Ruinian Xu, and Patricio A Vela · 2023
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Vi-net: Boosting category-level 6d object pose estimation via learning decoupled rotations on the spherical representations
Jiehong Lin, Zewei Wei, Yabin Zhang, and Kui Jia · 2023
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