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We present GigaPose, a fast, robust, and accurate method for CAD-based novel object pose estimation in RGB images.
A solution for the best rotation to relate two sets of vectors
Wolfgang Kabsch · 1976
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The OpenCV Library
G. Bradski · 2000
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Accurate Non-Iterative O(n) Solution to the PnP Problem
Francesc Moreno-Noguer, Vincent Lepetit, and Pascal Fua · 2007
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EP N P: An Accurate O (n) Solution to the P N P Problem
Vincent Lepetit, Francesc Moreno-Noguer, and Pascal Fua · 2009
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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 R. Bradski, Kurt Konolige, and Nassir Navab · 2012
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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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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, and Others · 2015
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The Pillow Imaging Library. https://github.com/python-pillow/Pillow
Alex Clark and Others · 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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Deep Residual Learning for Image Recognition
Kaiming He, Xiangyu Zhang, Shaoqing Ren, and Jian Sun · 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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Mask R-CNN
Kaiming He, Georgia Gkioxari, Piotr Dollár, and Ross Girshick · 2017
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T-LESS: An RGB-D Dataset for 6D Pose Estimation of Texture-Less Objects
Tomas Hodan, Pavel Haluza, Stepan Obdrzalek, Jiri Matas, Manolis Lourakis, and Xenophon Zabulis · 2017
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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
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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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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, and Others · 2018
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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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Representation Learning with Contrastive Predictive Coding
Aaron Oord, Yazhe Li, and Oriol Vinyals · 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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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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BlenderProc
Maximilian Denninger, Martin Sundermeyer, Dominik Winkelbauer, Youssef Zidan, Dmitry Olefir, Mohamad Elbadrawy, Ahsan Lodhi, and Harinandan Katam · 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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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.
CDPN: Coordinates-Based Disentangled Pose Network for Real-Time RGB-Based 6DoF Object Pose Estimation
Zhigang Li, Gu Wang, and Xiangyang Ji · 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.
Pix2pose: Pixel-Wise Coordinate Regression of Objects for 6D Pose Estimation
Kiru Park, Timothy Patten, and Markus Vincze · 2019
Cited alongside, same era.
PVNet: Pixel-Wise Voting Network for 6DoF Pose Estimation
Sida Peng, Yuan Liu, Qixing Huang, Xiaowei Zhou, and Hujun Bao · 2019
Cited alongside, same era.
Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimation
PIZZA: A Powerful Image-Only Zero-Shot Zero-CAD Approach to 6 DoF Tracking
Van Nguyen Nguyen, Yuming Du, Yang Xiao, Michael Ramamonjisoa, and Vincent Lepetit · 2022
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Templates for 3D Object Pose Estimation Revisited: Generalization to New Objects and Robustness to Occlusions
Van Nguyen Nguyen, Yinlin Hu, Yang Xiao, Mathieu Salzmann, and Vincent Lepetit · 2022
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DreamFusion: Text-to-3D Using 2D Diffusion
Ben Poole, Ajay Jain, Jonathan T. Barron, and Ben Mildenhall · 2022
Later among the works it cites.
OSOP: A Multi-Stage One Shot Object Pose Estimation Framework
Ivan Shugurov, Fu Li, Benjamin Busam, and Slobodan Ilic · 2022
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Score jacobian chaining: Lifting pretrained 2d diffusion models for 3d generation
Haochen Wang, Xiaodan Du, Jiahao Li, Raymond A. Yeh, and Greg Shakhnarovich · 2022
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He Wang, Srinath Sridhar, Jingwei Huang, Julien Valentin, Shuran Song, and Leonidas J. Guibas · 2019
Cited alongside, same era.
DPOD: 6D Pose Object Detector and Refiner
Sergey Zakharov, Ivan S. Shugurov, and Slobodan Ilic · 2019
Cited alongside, same era.
Category Level Object Pose Estimation via Neural Analysis-By-Synthesis
Xu Chen, Zijian Dong, Jie Song, Andreas Geiger, and Otmar Hilliges · 2020
Cited alongside, same era.
BOP Challenge 2020 on 6D Object Localization
Tomas Hodan, Martin Sundermeyer, Bertram Drost, Yann Labbé, Eric Brachmann, Frank Michel, Carsten Rother, and Jiri Matas · 2020
Cited alongside, same era.
Single-Stage 6D Object Pose Estimation
Yinlin Hu, Pascal Fua, Wei Wang, and Mathieu Salzmann · 2020
Cited alongside, same era.
CosyPose: Consistent Multi-View Multi-Object 6D Pose Estimation
Yann Labbé, Justin Carpentier, Mathieu Aubry, and Josef Sivic · 2020
Cited alongside, same era.
CPS++: Improving Class-Level 6D Pose and Shape Estimation from Monocular Images with Self-Supervised Learning
Fabian Manhardt, Gu Wang, Benjamin Busam, Manuel Nickel, Sven Meier, Luca Minciullo, Xiangyang Ji, and Nassir Navab · 2020
Cited alongside, same era.
Fusing Local Similarities for Retrieval-based 3D Orientation Estimation of Unseen Objects
Chen Zhao, Yinlin Hu, and Mathieu Salzmann · 2022
Later among the works it cites.
ZS6D: Zero-Shot 6D Object Pose Estimation Using Vision Transformers
Philipp Ausserlechner, David Haberger, Stefan Thalhammer, Jean-Baptiste Weibel, and Markus Vincze · 2023
Closest in time.
Segment Anything
Alexander Kirillov, Eric Mintun, Nikhila Ravi, Hanzi Mao, Chloe Rolland, Laura Gustafson, Tete Xiao, Spencer Whitehead, Alexander C. Berg, Wan-Yen Lo, and Others · 2023
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Sam-6d: Segment anything model meets zero-shot 6d object pose estimation
Jiehong Lin, Lihua Liu, Dekun Lu, and Kui Jia · 2023
Closest in time.
Zero-1-to-3: Zero-shot one image to 3d object
Ruoshi Liu, Rundi Wu, Basile Van Hoorick, Pavel Tokmakov, Sergey Zakharov, and Carl Vondrick · 2023
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Syncdreamer: Learning to generate multiview-consistent images from a single-view image
Yuan Liu, Cheng Lin, Zijiao Zeng, Xiaoxiao Long, Lingjie Liu, Taku Komura, and Wenping Wang · 2023
Closest in time.
Wonder3d: Single image to 3d using cross-domain diffusion
Xiaoxiao Long, Yuan-Chen Guo, Cheng Lin, Yuan Liu, Zhiyang Dou, Lingjie Liu, Yuexin Ma, Song-Hai Zhang, Marc Habermann, Christian Theobalt, and Wenping Wang · 2023
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Genflow, a submission to the bop challenge 2023 (bop.felk.cvut.cz)
Sungphill Moon and Hyeontae Son · 2023
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CNOS: A Strong Baseline for CAD-based Novel Object Segmentation
Van Nguyen Nguyen, Thibault Groueix, Georgy Ponimatkin, Vincent Lepetit, and Tomas Hodan · 2023
Closest in time.
Dinov2: Learning Robust Visual Features Without Supervision
Maxime Oquab, Timothée Darcet, Théo Moutakanni, Huy Vo, Marc Szafraniec, Vasil Khalidov, Pierre Fernandez, Daniel Haziza, Francisco Massa, Alaaeldin El-Nouby, and Others · 2023
Closest in time.
Foundpose: Unseen object pose estimation with foundation features
Evin Pınar Örnek, Yann Labbé, Bugra Tekin, Lingni Ma, Cem Keskin, Christian Forster, and Tomas Hodan · 2023
Closest in time.
Magic123: One image to high-quality 3d object generation using both 2d and 3d diffusion priors
Guocheng Qian, Jinjie Mai, Abdullah Hamdi, Jian Ren, Aliaksandr Siarohin, Bing Li, Hsin-Ying Lee, Ivan Skorokhodov, Peter Wonka, Sergey Tulyakov, and Bernard Ghanem · 2023
Closest in time.
BOP Challenge 2022 on Detection, Segmentation and Pose Estimation of Specific Rigid Objects
Martin Sundermeyer, Tomáš Hodaň, Yann Labbe, Gu Wang, Eric Brachmann, Bertram Drost, Carsten Rother, and Jiří Matas · 2023
Closest in time.
Diff-DOPE: Differentiable Deep Object Pose Estimation
Jonathan Tremblay, Bowen Wen, Valts Blukis, Balakumar Sundaralingam, Stephen Tyree, and Stan Birchfield · 2023
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BOP Challenge 2023 on Detection, Segmentation and Pose Estimation of Seen and Unseen Rigid Objects
Tomas Hodan, Martin Sundermeyer, Yann Labbé, Van Nguyen Nguyen, Gu Wang, Eric Brachmann, Bertram Drost, Vincent Lepetit, Carsten Rother, and Jiri Matas · 2024
Closest in time.
NOPE: Novel Object Pose Estimation from a Single Image
Van Nguyen Nguyen, Thibault Groueix, Georgy Ponimatkin, Yinlin Hu, Marlet Renaud, Mathieu Salzmann, and Vincent Lepetit · 2024
Closest in time.