7 papers
Prior-free relative 6D pose estimation of multiple object instances
Behdad Khodabandehloo, Andrea Caraffa, Davide Boscaini +1
Object 6D pose estimation formulations have progressively reduced reliance on object-specific priors, evolving from explicit 3D models to multi-view object captures to single refer…
Foundational feature fusion for conditional flow matching in 6D pose estimation
Amir Hamza, Davide Boscaini, Fabio Poiesi
Conditional flow matching has enabled a step forward in object 6D pose estimation, achieving state-of-the-art performance by progressively denoising and registering object represen…
Generative 6D Pose Estimation via Conditional Flow Matching
Amir Hamza, Davide Boscaini, Weihang Li +2
Existing methods for instance-level 6D pose estimation typically rely on neural networks that either directly regress the pose in or estimate it indirectly via loc…
Action-guided generation of 3D functionality segmentation data
Jaime Corsetti, Francesco Giuliari, Davide Boscaini +6
3D functionality segmentation aims to identify the interactive element in a 3D scene required to perform an action described in free-form language (e.g., the handle to ``Open the s…
AI-driven visual monitoring of industrial assembly tasks
Mattia Nardon, Stefano Messelodi, Antonio Granata +3
Visual monitoring of industrial assembly tasks is critical for preventing equipment damage due to procedural errors and ensuring worker safety. Although commercial solutions exist,…
Accurate and efficient zero-shot 6D pose estimation with frozen foundation models
Andrea Caraffa, Davide Boscaini, Fabio Poiesi
Estimating the 6D pose of objects from RGBD data is a fundamental problem in computer vision, with applications in robotics and augmented reality. A key challenge is achieving gene…
CHIP: A multi-sensor dataset for 6D pose estimation of chairs in industrial settings
Mattia Nardon, Mikel Mujika Agirre, Ander González Tomé +7
Accurate 6D pose estimation of complex objects in 3D environments is essential for effective robotic manipulation. Yet, existing benchmarks fall short in evaluating 6D pose estimat…