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MegaPose 6D Pose Estimation of Novel Objects via Render & Compare.
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MegaPose MegaPose 6D Pose Estimation of Novel Objects via Render & Compare CoRL 2022 Yann Labbé 1,† , Lucas Manuelli 2 , Arsalan Mousavian 2 , Stephen Tyree 2 , Stan Birchfield 2 , Jonathan Tremblay 2 Justin Carpentier 1 , Mathieu Aubry 3 , Dieter Fox 2,4 , Josef Sivic 5 † Work partially done while the author was an intern at Nvidia Paper on arXiv Code Video (1min presentation) Video (results) Openreview Overview MegaPose is a 6D pose estimation approach (a) that is trained on millions of synthetic scenes with thousands of different objects and (b) can be applied without re-training to estimate the pose of any novel object, given a CAD model and a region of interest displaying the object. It can thus be used to rapidly deploy visually guided robotic manipulation systems in novel scenes containing novel objects (c). 1 min presentation video Abstract We introduce MegaPose, a method to estimate the 6D pose of novel o...
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