SDT-6D: Fully Sparse Depth-Transformer for Staged End-to-End 6D Pose Estimation in Industrial Multi-View Bin Picking

Nico Leuze, Maximilian Hoh, Samed Doğan +2

Accurately recovering 6D poses in densely packed industrial bin-picking environments remain a serious challenge, owing to occlusions, reflections, and textureless parts. We introdu…