Mind the Shape Gap: A Benchmark and Baseline for Deformation-Aware 6D Pose Estimation of Agricultural Produce

Nikolas Chatzis, Angeliki Tsinouka, Katerina Papadimitriou +7

Accurate 6D pose estimation for robotic harvesting is fundamentally hindered by the biological deformability and high intra-class shape variability of agricultural produce. Instanc…