3 citations · 4 across the 9 of their papers we have counts for
9 papers
Temporally Consistent Object 6D Pose Estimation for Robot Control
Kateryna Zorina, Vojtech Priban, Mederic Fourmy +2
Single-view RGB object pose estimators have reached a level of precision and efficiency that makes them good candidates for vision-based robot control. However, off-the-shelf metho…
REALM: A Real-to-Sim Validated Benchmark for Generalization in Robotic Manipulation
Martin Sedlacek, Pavlo Yefanov, Georgy Ponimatkin +7
Vision-Language-Action (VLA) models empower robots to understand and execute tasks described by natural language instructions. However, a key challenge lies in their ability to gen…
AlignPose: Generalizable 6D Pose Estimation via Multi-view Feature-metric Alignment
Anna Šárová Mikeštíková, Médéric Fourmy, Martin Cífka +2
Single-view RGB model-based object pose estimation methods achieve strong generalization but are fundamentally limited by depth ambiguity, clutter, and occlusions. Multi-view pose…
Multi-step manipulation task and motion planning guided by video demonstration
Kateryna Zorina, David Kovar, Mederic Fourmy +5
This work aims to leverage instructional video to solve complex multi-step task-and-motion planning tasks in robotics. Towards this goal, we propose an extension of the well-establ…
BOP Challenge 2024 on Model-Based and Model-Free 6D Object Pose Estimation
Van Nguyen Nguyen, Stephen Tyree, Andrew Guo +16
We present the evaluation methodology, datasets and results of the BOP Challenge 2024, the 6th in a series of public competitions organized to capture the state of the art in 6D ob…
PhysPose: Refining 6D Object Poses with Physical Constraints
Martin Malenický, Martin Cífka, Médéric Fourmy +4
Accurate 6D object pose estimation from images is a key problem in object-centric scene understanding, enabling applications in robotics, augmented reality, and scene reconstructio…
6D Object Pose Tracking in Internet Videos for Robotic Manipulation
Georgy Ponimatkin, Martin Cífka, Tomáš Souček +4
We seek to extract a temporally consistent 6D pose trajectory of a manipulated object from an Internet instructional video. This is a challenging set-up for current 6D pose estimat…
Visually Guided Model Predictive Robot Control via 6D Object Pose Localization and Tracking
Mederic Fourmy, Vojtech Priban, Jan Kristof Behrens +3
The objective of this work is to enable manipulation tasks with respect to the 6D pose of a dynamically moving object using a camera mounted on a robot. Examples include maintainin…
WOLF: A modular estimation framework for robotics based on factor graphs
Joan Sola, Joan Vallve, Joaquim Casals +5
This paper introduces WOLF, a C++ estimation framework based on factor graphs and targeted at mobile robotics. WOLF can be used beyond SLAM to handle self-calibration, model identi…