6-DoF Pose Estimation of Household Objects for Robotic Manipulation: An Accessible Dataset and Benchmark

11 March 2022

Papers citing "6-DoF Pose Estimation of Household Objects for Robotic Manipulation: An Accessible Dataset and Benchmark"

50 / 59 papers shown

Title
GraspClutter6D: A Large-scale Real-world Dataset for Robust Perception and Grasping in Cluttered Scenes S. Back J. Lee Kangmin Kim Heeseon Rho Geonhyup Lee ... S. Lee Sangjun Noh Youngjin Lee Taeyeop Lee K. Lee 3DV 41 0 0 09 Apr 2025
BOP Challenge 2024 on Model-Based and Model-Free 6D Object Pose Estimation Van Nguyen Nguyen Stephen Tyree Andrew Guo Mederic Fourmy Anas Gouda ... Stan Birchfield Jiri Matas Yann Labbé M. Sundermeyer Tomás Hodan 3DPC 58 1 0 03 Apr 2025
MM-Spatial: Exploring 3D Spatial Understanding in Multimodal LLMs Erik Daxberger Nina Wenzel David Griffiths Haiming Gang Justin Lazarow ... Kai Kang Marcin Eichner Yuqing Yang Afshin Dehghan Peter Grasch 77 3 0 17 Mar 2025
6D Object Pose Tracking in Internet Videos for Robotic Manipulation Georgy Ponimatkin Martin Cífka Tomáš Souček Médéric Fourmy Yann Labbé Vladimir Petrik Josef Sivic 52 1 0 13 Mar 2025
Novel Object 6D Pose Estimation with a Single Reference View Jian Liu Wei Sun Kai Zeng Jin Zheng Hui Yang Lin Wang Hossein Rahmani Ajmal Mian 48 1 0 07 Mar 2025
Point Policy: Unifying Observations and Actions with Key Points for Robot Manipulation Siddhant Haldar Lerrel Pinto 3DPC 66 2 0 27 Feb 2025
Multi-Keypoint Affordance Representation for Functional Dexterous Grasping Fan Yang DongSheng Luo Wenrui Chen Jiacheng Lin Junjie Cai Kailun Yang Zehan Li Yaonan Wang 51 0 0 27 Feb 2025
A Critical Synthesis of Uncertainty Quantification and Foundation Models in Monocular Depth Estimation S. Landgraf Rongjun Qin Markus Ulrich UQCV 78 0 0 14 Jan 2025
VinT-6D: A Large-Scale Object-in-hand Dataset from Vision, Touch and Proprioception Zhaoliang Wan Yonggen Ling Senlin Yi Lu Qi Wangwei Lee ... Xiao Teng Peng Lu Xu Yang Ming Yang Hui Cheng 60 4 0 31 Dec 2024
GFreeDet: Exploiting Gaussian Splatting and Foundation Models for Model-free Unseen Object Detection in the BOP Challenge 2024 Xingyu Liu Yingyue Li Chengxi Li Gu Wang Chenyangguang Zhang Ziqin Huang Xiangyang Ji 3DGS 85 2 0 02 Dec 2024
RoboSpatial: Teaching Spatial Understanding to 2D and 3D Vision-Language Models for Robotics Chan Hee Song Valts Blukis Jonathan Tremblay Stephen Tyree Yu-Chuan Su Stan Birchfield 101 8 0 25 Nov 2024
Towards an Efficient Synthetic Image Data Pipeline for Training Vision-Based Robot Systems Peter Gavriel Adam Norton Kenneth Kimble Megan Zimmerman 36 0 0 09 Nov 2024
GRS: Generating Robotic Simulation Tasks from Real-World Images Alex Zook Fan-Yun Sun Josef Spjut Valts Blukis Stan Birchfield Jonathan Tremblay 60 4 0 20 Oct 2024
Object Pose Estimation Using Implicit Representation For Transparent Objects Varun Burde Artem Moroz Vit Zeman Pavel Burget 34 0 0 17 Oct 2024
ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation Wenlong Huang Chen Wang Yong Li Ruohan Zhang Li Fei-Fei 52 90 0 03 Sep 2024
Comparative Evaluation of 3D Reconstruction Methods for Object Pose Estimation Varun Burde Assia Benbihi Pavel Burget Torsten Sattler 32 1 0 15 Aug 2024
Language-Guided Object-Centric Diffusion Policy for Generalizable and Collision-Aware Robotic Manipulation Hang Li Qian Feng Zhi Zheng Jianxiang Feng Zhaopeng Chen Alois Knoll 31 1 0 29 Jun 2024
Review of Zero-Shot and Few-Shot AI Algorithms in The Medical Domain Maged Badawi Mohammedyahia Abushanab Sheethal Bhat Andreas Maier VLM 54 2 0 23 Jun 2024
Realistic Data Generation for 6D Pose Estimation of Surgical Instruments Juan Antonio Barragan Jintan Zhang Haoying Zhou Adnan Munawar Peter Kazanzides MedIm 44 4 0 11 Jun 2024
Task and Motion Planning for Execution in the Real Tianyang Pan Rahul Shome Lydia E. Kavraki 58 2 0 05 Jun 2024
Vision-based Manipulation from Single Human Video with Open-World Object Graphs Yifeng Zhu Arisrei Lim Peter Stone Yuke Zhu 39 35 0 30 May 2024
Deep Learning-Based Object Pose Estimation: A Comprehensive Survey Jian Liu Wei Sun Hui Yang Zhiwen Zeng Chongpei Liu Jin Zheng Xingyu Liu Hossein Rahmani N. Sebe Ajmal Mian 46 15 0 13 May 2024
Learning Embeddings with Centroid Triplet Loss for Object Identification in Robotic Grasping Anas Gouda Max Schwarz Christopher Reining Sven Behnke Alice Kirchheim VLM 22 0 0 09 Apr 2024
Gen3DSR: Generalizable 3D Scene Reconstruction via Divide and Conquer from a Single View Andreea Dogaru M. Ozer Bernhard Egger 3DGS 64 4 0 04 Apr 2024
KITchen: A Real-World Benchmark and Dataset for 6D Object Pose Estimation in Kitchen Environments Abdelrahman Younes Tamim Asfour 36 3 0 24 Mar 2024
Multi-Object RANSAC: Efficient Plane Clustering Method in a Clutter Seunghyeon Lim Youngjae Yoo Jun Ki Lee Byoung-Tak Zhang 28 2 0 19 Mar 2024
BOP Challenge 2023 on Detection, Segmentation and Pose Estimation of Seen and Unseen Rigid Objects Tomás Hodan M. Sundermeyer Yann Labbé Van Nguyen Nguyen Gu Wang Eric Brachmann Bertram Drost Vincent Lepetit Carsten Rother Jiri Matas 3DPC 32 48 0 14 Mar 2024
A Benchmark Grocery Dataset of Realworld Point Clouds From Single View Shivanand Venkanna Sheshappanavar Tejas Anvekar Shivanand Kundargi Yufan Wang Chandra Kambhamettu 27 3 0 12 Feb 2024
VR-based generation of photorealistic synthetic data for training hand-object tracking models Chengyan Zhang Rahul Chaudhari 53 1 0 31 Jan 2024
PARSAC: Accelerating Robust Multi-Model Fitting with Parallel Sample Consensus Florian Kluger Bodo Rosenhahn 15 6 0 26 Jan 2024
FMB: a Functional Manipulation Benchmark for Generalizable Robotic Learning Jianlan Luo Charles Xu Fangchen Liu Liam Tan Zipeng Lin Jeffrey Wu Pieter Abbeel Sergey Levine 39 27 0 16 Jan 2024
Object-Centric Instruction Augmentation for Robotic Manipulation Junjie Wen Yichen Zhu Minjie Zhu Jinming Li Zhiyuan Xu ... Chaomin Shen Yaxin Peng Dong Liu Feifei Feng Jian Tang LM&Ro 69 16 0 05 Jan 2024
PEGASUS: Physically Enhanced Gaussian Splatting Simulation System for 6DoF Object Pose Dataset Generation Lukas Meyer Floris Erich Yusuke Yoshiyasu Marc Stamminger Noriaki Ando Y. Domae 3DGS 34 10 0 04 Jan 2024
Visual Hindsight Self-Imitation Learning for Interactive Navigation Kibeom Kim Kisung Shin Min Whoo Lee Moonhoen Lee Minsu Lee Byoung-Tak Zhang 34 2 0 05 Dec 2023
FocalPose++: Focal Length and Object Pose Estimation via Render and Compare Martin Cífka Georgy Ponimatkin Yann Labbé Bryan C. Russell Mathieu Aubry Vladimir Petrik Josef Sivic 36 2 0 15 Nov 2023
Learning Generalizable Manipulation Policies with Object-Centric 3D Representations Yifeng Zhu Zhenyu Jiang Peter Stone Yuke Zhu 3DPC 24 44 0 22 Oct 2023
EARL: Eye-on-Hand Reinforcement Learner for Dynamic Grasping with Active Pose Estimation Baichuan Huang Jingjin Yu Siddarth Jain 40 9 0 10 Oct 2023
WinSyn: A High Resolution Testbed for Synthetic Data Tom Kelly John C. Femiani Peter Wonka 29 2 0 09 Oct 2023
How Physics and Background Attributes Impact Video Transformers in Robotic Manipulation: A Case Study on Planar Pushing Shutong Jin Ruiyu Wang Muhammad Zahid Florian T. Pokorny 35 1 0 03 Oct 2023
Diff-DOPE: Differentiable Deep Object Pose Estimation Jonathan Tremblay Bowen Wen Valts Blukis Balakumar Sundaralingam Stephen Tyree Stan Birchfield 31 7 0 30 Sep 2023
HANDAL: A Dataset of Real-World Manipulable Object Categories with Pose Annotations, Affordances, and Reconstructions Andrew Guo Bowen Wen Jianhe Yuan Jonathan Tremblay Stephen Tyree Jeffrey Smith Stan Birchfield 3DH 24 21 0 02 Aug 2023
A Small Form Factor Aerial Research Vehicle for Pick-and-Place Tasks with Onboard Real-Time Object Detection and Visual Odometry Cora A. Dimmig Anna Goodridge Gabriel Baraban Pu-qiang Zhu Joyraj Bhowmick Marin Kobilarov 21 4 0 02 Aug 2023
Virtual Reality Based Robot Teleoperation via Human-Scene Interaction Lingxiao Meng Jian Liu Weitao Chai Jiankun Wang Max Q.-H. Meng 16 15 0 02 Aug 2023
Challenges for Monocular 6D Object Pose Estimation in Robotics S. Thalhammer Dominik Bauer Peter Honig Jean-Baptiste Weibel José García-Rodríguez Markus Vincze 46 24 0 22 Jul 2023
RIC: Rotate-Inpaint-Complete for Generalizable Scene Reconstruction Isaac Kasahara Shubham Agrawal Selim Engin Nikhil Chavan-Dafle Shuran Song Volkan Isler 26 4 0 21 Jul 2023
Persistent Homology Meets Object Unity: Object Recognition in Clutter Ekta U. Samani A. Banerjee 43 5 0 05 May 2023
Uncovering the Background-Induced bias in RGB based 6-DoF Object Pose Estimation Elena Govi D. Sapienza Carmelo Scribano T. Poppi Giorgia Franchini Paola Ardón M. Verucchi Marko Bertogna 27 1 0 17 Apr 2023
PoseFusion: Robust Object-in-Hand Pose Estimation with SelectLSTM Yuyang Tu Junnan Jiang Shuang Li Norman Hendrich Miaopeng Li Jianwei Zhang 29 7 0 10 Apr 2023
DoUnseen: Tuning-Free Class-Adaptive Object Detection of Unseen Objects for Robotic Grasping Anas Gouda Moritz Roidl 27 1 0 06 Apr 2023
TTA-COPE: Test-Time Adaptation for Category-Level Object Pose Estimation Taeyeop Lee Jonathan Tremblay Valts Blukis Bowen Wen Byeong-uk Lee Inkyu Shin Stan Birchfield In So Kweon Kuk-Jin Yoon TTA 50 33 0 29 Mar 2023