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We present FoundationPose, a unified foundation model for 6D object pose estimation and tracking, supporting both model-based and model-free setups.
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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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Deep metric learning using triplet network
Elad Hoffer and Nir Ailon · 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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Kaiming He, Xiangyu Zhang, Shaoqing Ren, and Jian Sun · 2016
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Depth-based object tracking using a robust gaussian filter
Jan Issac, Manuel Wüthrich, Cristina Garcia Cifuentes, Jeannette Bohg, Sebastian Trimpe, and Stefan Schaal · 2016
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Johannes Lutz Schönberger and Jan-Michael Frahm · 2016
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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
Tomáš Hodan, Pavel Haluza, Štepán Obdržálek, Jiri Matas, Manolis Lourakis, and Xenophon Zabulis · 2017
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Attention is all you need
Ashish Vaswani, Noam Shazeer, Niki Parmar, Jakob Uszkoreit, Llion Jones, Aidan N Gomez, Łukasz Kaiser, and Illia Polosukhin · 2017
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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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Real-time perception meets reactive motion generation
Daniel Kappler, Franziska Meier, Jan Issac, Jim Mainprice, Cristina Garcia Cifuentes, Manuel Wüthrich, Vincent Berenz, Stefan Schaal, Nathan Ratliff, and Jeannette Bohg · 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 van den Oord, Yazhe Li, and Oriol Vinyals · 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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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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PoseRBPF: A Rao-Blackwellized particle filter for 6D object pose tracking
Xinke Deng, Arsalan Mousavian, Yu Xiang, Fei Xia, Timothy Bretl, and Dieter Fox · 2019
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LVIS: A dataset for large vocabulary instance segmentation
Agrim Gupta, Piotr Dollar, and Ross Girshick · 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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Pix2Pose: Pixel-wise coordinate regression of objects for 6D pose estimation
Kiru Park, Timothy Patten, and Markus Vincze · 2019
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Normalized object coordinate space for category-level 6D object pose and size estimation
He Wang, Srinath Sridhar, Jingwei Huang, Julien Valentin, Shuran Song, and Leonidas J Guibas · 2019
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On the continuity of rotation representations in neural networks
Yi Zhou, Connelly Barnes, Jingwan Lu, Jimei Yang, and Hao Li · 2019
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Reconstruct locally, localize globally: A model free method for object pose estimation
Ming Cai and Ian Reid · 2020
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Learning canonical shape space for category-level 6D object pose and size estimation
Dengsheng Chen, Jun Li, Zheng Wang, and Kai Xu · 2020
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Implicit geometric regularization for learning shapes
BundleTrack: 6D pose tracking for novel objects without instance or category-level 3D models
Bowen Wen and Kostas Bekris · 2021
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OVE6D: Object viewpoint encoding for depth-based 6D object pose estimation
Dingding Cai, Janne Heikkilä, and Esa Rahtu · 2022
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Google scanned objects: A high-quality dataset of 3D scanned household items
Laura Downs, Anthony Francis, Nate Koenig, Brandon Kinman, Ryan Hickman, Krista Reymann, Thomas B McHugh, and Vincent Vanhoucke · 2022
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Surfemb: Dense and continuous correspondence distributions for object pose estimation with learnt surface embeddings
Rasmus Laurvig Haugaard and Anders Glent Buch · 2022
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MegaPose: 6D pose estimation of novel objects via render & compare
Yann Labbé, Lucas Manuelli, Arsalan Mousavian, Stephen Tyree, Stan Birchfield, Jonathan Tremblay, Justin Carpentier, Mathieu Aubry, Dieter Fox, and Josef Sivic · 2022
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Amos Gropp, Lior Yariv, Niv Haim, Matan Atzmon, and Yaron Lipman · 2020
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PVN3D: A deep point-wise 3D keypoints voting network for 6DoF pose estimation
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Denoising diffusion probabilistic models
Jonathan Ho, Ajay Jain, and Pieter Abbeel · 2020
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CosyPose: Consistent multi-view multi-object 6D pose estimation
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Modular primitives for high-performance differentiable rendering
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Gen6D: Generalizable model-free 6-DoF object pose estimation from RGB images
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High-resolution image synthesis with latent diffusion models
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OSOP: A multi-stage one shot object pose estimation framework
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Iterative corresponding geometry: Fusing region and depth for highly efficient 3D tracking of textureless objects
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OnePose: One-shot object pose estimation without CAD models
Jiaming Sun, Zihao Wang, Siyu Zhang, Xingyi He, Hongcheng Zhao, Guofeng Zhang, and Xiaowei Zhou · 2022
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SSP-Pose: Symmetry-aware shape prior deformation for direct category-level object pose estimation
Ruida Zhang, Yan Di, Fabian Manhardt, Federico Tombari, and Xiangyang Ji · 2022
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TexFusion: Synthesizing 3D textures with text-guided image diffusion models
Tianshi Cao, Karsten Kreis, Sanja Fidler, Nicholas Sharp, and Kangxue Yin · 2023
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Objaverse: A universe of annotated 3D objects
Matt Deitke, Dustin Schwenk, Jordi Salvador, Luca Weihs, Oscar Michel, Eli VanderBilt, Ludwig Schmidt, Kiana Ehsani, Aniruddha Kembhavi, and Ali Farhadi · 2023
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Poly Haven: The public 3D asset library
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TTA-COPE: Test-time adaptation for category-level object pose estimation
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NeRF-Pose: A first-reconstruct-then-regress approach for weakly-supervised 6D object pose estimation
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Cnos: A strong baseline for cad-based novel object segmentation
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Learning symmetry-aware geometry correspondences for 6D object pose estimation
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HS-Pose: Hybrid scope feature extraction for category-level object pose estimation
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