FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objects

13 December 2023

Bowen Wen

Wei Yang

Jan Kautz

Stanley T. Birchfield

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Papers citing "FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objects"

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Title
3D Foundation Models Enable Simultaneous Geometry and Pose Estimation of Grasped Objects Weiming Zhi Haozhan Tang Tianyi Zhang Matthew Johnson-Roberson 48 1 0 14 Jul 2024
AutoMate: Specialist and Generalist Assembly Policies over Diverse Geometries Bingjie Tang Iretiayo Akinola Jie Xu Bowen Wen Ankur Handa Karl Van Wyk Dieter Fox Gaurav Sukhatme Fabio Ramos Yashraj S. Narang 41 13 0 10 Jul 2024
ClutterGen: A Cluttered Scene Generator for Robot Learning Yinsen Jia Boyuan Chen 32 4 0 07 Jul 2024
Towards Human-Level 3D Relative Pose Estimation: Generalizable, Training-Free, with Single Reference Yuan Gao Yajing Luo Junhong Wang Kui Jia Gui-Song Xia 3DH 42 0 0 26 Jun 2024
Neural Assets: 3D-Aware Multi-Object Scene Synthesis with Image Diffusion Models Ziyi Wu Yulia Rubanova Rishabh Kabra Drew A. Hudson Igor Gilitschenski Yusuf Aytar Sjoerd van Steenkiste Kelsey R. Allen Thomas Kipf VGen DiffM 49 10 0 13 Jun 2024
Language-Driven Closed-Loop Grasping with Model-Predictive Trajectory Replanning Huy Hoang Nguyen Minh Nhat Vu F. Beck Gerald Ebmer Anh Nguyen Andreas Kugi 18 0 0 13 Jun 2024
HO-Cap: A Capture System and Dataset for 3D Reconstruction and Pose Tracking of Hand-Object Interaction Jikai Wang Qifan Zhang Yu-Wei Chao Bowen Wen Xiaohu Guo Yu Xiang 3DH 53 2 0 10 Jun 2024
Adapting Pre-Trained Vision Models for Novel Instance Detection and Segmentation Ya Lu Jishnu Jaykumar Yunhui Guo Nicholas Ruozzi Yu Xiang VLM ISeg 58 4 0 28 May 2024
Advancing 6-DoF Instrument Pose Estimation in Variable X-Ray Imaging Geometries Christiaan G. A. Viviers Lena Filatova Maurice Termeer Peter H. N. de With Fons van der Sommen 51 7 0 19 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
Semi-Autonomous Laparoscopic Robot Docking with Learned Hand-Eye Information Fusion Huanyu Tian Martin Huber Christopher E. Mower Zhe Han Changsheng Li Xingguang Duan Christos Bergeles 35 0 0 09 May 2024
What Foundation Models can Bring for Robot Learning in Manipulation : A Survey Dingzhe Li Yixiang Jin A. Yong Hongze Yu Jun Shi Xiaoshuai Hao Peng Hao Huaping Liu Gang Hua Bin Fang AI4CE LM&Ro 72 13 0 28 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
Zero123-6D: Zero-shot Novel View Synthesis for RGB Category-level 6D Pose Estimation F. D. Felice A. Remus Stefano Gasperini Benjamin Busam Lionel Ott Federico Tombari Roland Siegwart C. Avizzano DiffM 39 8 0 21 Mar 2024
ManiPose: A Comprehensive Benchmark for Pose-aware Object Manipulation in Robotics Qiaojun Yu Ce Hao Junbo Wang Wenhai Liu Liu Liu Yao Mu Yang You Hengxu Yan Cewu Lu 44 5 0 20 Mar 2024
CLOSURE: Fast Quantification of Pose Uncertainty Sets Yihuai Gao Yukai Tang Han Qi Heng Yang 37 5 0 15 Mar 2024
Real-World Robot Applications of Foundation Models: A Review Kento Kawaharazuka T. Matsushima Andrew Gambardella Jiaxian Guo Chris Paxton Andy Zeng OffRL VLM LM&Ro 51 47 0 08 Feb 2024
Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysis Yafei Hu Quanting Xie Vidhi Jain Jonathan M Francis Jay Patrikar ... Xiaolong Wang Sebastian A. Scherer Z. Kira Fei Xia Yonatan Bisk LM&Ro AI4CE 43 64 0 14 Dec 2023
FreeZe: Training-free zero-shot 6D pose estimation with geometric and vision foundation models Andrea Caraffa Davide Boscaini Amir Hamza Fabio Poiesi 61 15 0 01 Dec 2023
FoundPose: Unseen Object Pose Estimation with Foundation Features Evin Pınar Örnek Yann Labbé Bugra Tekin Lingni Ma Cem Keskin Christian Forster Tomás Hodan 33 48 0 30 Nov 2023
TransPose: 6D Object Pose Estimation with Geometry-Aware Transformer Xiao Lin Deming Wang Guangliang Zhou Chengju Liu Qi Chen 3DPC ViT 30 8 0 25 Oct 2023
Robust 6DoF Pose Estimation Against Depth Noise and a Comprehensive Evaluation on a Mobile Dataset Zixun Huang Keling Yao Seth Z. Zhao Chuanyu Pan Chenfeng Xu Kathy Zhuang Tianjian Xu Weiyu Feng Allen Y. Yang 21 0 0 24 Sep 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
BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objects Bowen Wen Jonathan Tremblay Valts Blukis Stephen Tyree Thomas Müller Alex Evans Dieter Fox Jan Kautz Stan Birchfield 3DH 85 129 0 24 Mar 2023
OnePose: One-Shot Object Pose Estimation without CAD Models Jiaming Sun Zihao Wang Siyu Zhang Xingyi He He Hongcheng Zhao Guofeng Zhang Xiaowei Zhou 98 148 0 24 May 2022
ZePHyR: Zero-shot Pose Hypothesis Rating Brian Okorn Qiao Gu M. Hebert David Held 47 28 0 28 Apr 2021
se(3)-TrackNet: Data-driven 6D Pose Tracking by Calibrating Image Residuals in Synthetic Domains Bowen Wen Chaitanya Mitash Baozhang Ren Kostas E. Bekris 89 127 0 27 Jul 2020
Robust, Occlusion-aware Pose Estimation for Objects Grasped by Adaptive Hands Bowen Wen Chaitanya Mitash Sruthi Soorian A. Kimmel A. Sintov Kostas E. Bekris 3DH 71 45 0 07 Mar 2020