7 papers
AlignPose: Generalizable 6D Pose Estimation via Multi-view Feature-metric Alignment
Anna Šárová MikeÅ¡tÃková, Médéric Fourmy, Martin CÃfka +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…
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…
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 CÃfka, 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…