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6-DoF Pose Estimation of Household Objects for Robotic Manipulation: An Accessible Dataset and Benchmark

IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022

11 March 2022

Papers citing "6-DoF Pose Estimation of Household Objects for Robotic Manipulation: An Accessible Dataset and Benchmark"

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Title
BOP-ASK: Object-Interaction Reasoning for Vision-Language Models V. Bhat Sungsu Kim Valts Blukis Greg Heinrich Prashanth Krishnamurthy Ramesh Karri Stan Birchfield Farshad Khorrami Jonathan Tremblay VLM 205 1 0 20 Nov 2025
OPFormer: Object Pose Estimation leveraging foundation model with geometric encoding Artem Moroz Vit Zeman Martin Mikšík Elizaveta Isianova Miroslav David Pavel Burget Varun Burde ViT 80 0 0 16 Nov 2025
SlotVLA: Towards Modeling of Object-Relation Representations in Robotic Manipulation Taisei Hanyu Nhat Chung H. Le T. Nguyen Yuki Ikebe ... Tung Kieu Kashu Yamazaki Chase Rainwater A. Nguyen Ngan Le 232 1 0 10 Nov 2025
VLM6D: VLM based 6Dof Pose Estimation based on RGB-D Images Md Selim Sarowar Sungho Kim 3DH 252 0 0 31 Oct 2025
MUSE: Model-based Uncertainty-aware Similarity Estimation for zero-shot 2D Object Detection and Segmentation Sungmin Cho Sungbum Park Insoo Oh 3DPC VLM 165 0 0 15 Oct 2025
HccePose(BF): Predicting Front & Back Surfaces to Construct Ultra-Dense 2D-3D Correspondences for Pose Estimation Yulin Wang Mengting Hu Hongli Li Chen Luo 3DH 277 0 0 11 Oct 2025
VLBiMan: Vision-Language Anchored One-Shot Demonstration Enables Generalizable Bimanual Robotic Manipulation Huayi Zhou Kui Jia LM&Ro 162 0 0 26 Sep 2025
Depth Edge Alignment Loss: DEALing with Depth in Weakly Supervised Semantic Segmentation Patrick Schmidt Vasileios Belagiannis Lazaros Nalpantidis 96 0 0 22 Sep 2025
IMD: A 6-DoF Pose Estimation Benchmark for Industrial Metallic Objects Ruimin Ma Sebastian Zudaire Zhen Li Chi Zhang 118 0 0 15 Sep 2025
Australian Supermarket Object Set (ASOS): A Benchmark Dataset of Physical Objects and 3D Models for Robotics and Computer Vision Akansel Cosgun Lachlan Chumbley Benjamin J. Meyer 56 0 0 09 Sep 2025
MR6D: Benchmarking 6D Pose Estimation for Mobile Robots Anas Gouda Shrutarv Awasthi Christian Blesing Lokeshwaran Manohar Frank Hoffmann Alice Kirchheim 104 0 0 19 Aug 2025
MVTOP: Multi-View Transformer-based Object Pose-Estimation Lukas Ranftl Felix Brendel Bertram Drost C. Steger 98 0 0 05 Aug 2025
OmniShape: Zero-Shot Multi-Hypothesis Shape and Pose Estimation in the Real WorldIEEE International Conference on Robotics and Automation (ICRA), 2025 Katherine Liu Sergey Zakharov D. Chen Takuya Ikeda G. Shakhnarovich Adrien Gaidon Rares Andrei Ambrus 100 0 0 05 Aug 2025
Visuo-Acoustic Hand Pose and Contact Estimation Yuemin Ma Uksang Yoo Yunchao Yao Shahram Najam Syed Luca Bondi Jonathan M Francis Jean Oh Jeffrey Ichnowski 110 1 0 13 Jul 2025
NOCTIS: Novel Object Cyclic Threshold based Instance Segmentation Max Gandyra Alessandro Santonicola Michael Beetz 224 1 0 02 Jul 2025
ControlVLA: Few-shot Object-centric Adaptation for Pre-trained Vision-Language-Action Models Puhao Li Yingying Wu Ziheng Xi Wanlin Li Yuzhe Huang ... Yinghan Chen Jianan Wang Song-Chun Zhu Tengyu Liu Siyuan Huang LM&Ro 184 17 0 19 Jun 2025
CHIP: A multi-sensor dataset for 6D pose estimation of chairs in industrial settings Mattia Nardon Mikel Mujika Agirre Ander González Tomé Daniel Sedano Algarabel Josep Rueda Collell Ana Paola Caro Andrea Caraffa Fabio Poiesi P. Chippendale Davide Boscaini 200 0 0 11 Jun 2025
XYZ-IBD: A High-precision Bin-picking Dataset for Object 6D Pose Estimation Capturing Real-world Industrial Complexity Junwen Huang Jizhong Liang Jiaqi Hu Martin Sundermeyer Peter KT Yu Nassir Navab Benjamin Busam 184 4 0 31 May 2025
GraspClutter6D: A Large-scale Real-world Dataset for Robust Perception and Grasping in Cluttered ScenesIEEE Robotics and Automation Letters (IEEE RA-L), 2025 S. Back J. Lee Kangmin Kim Heeseon Rho Geonhyup Lee ... S. Lee Sangjun Noh Youngjin Lee Taeyeop Lee K. Lee 3DV 285 1 0 09 Apr 2025
BOP Challenge 2024 on Model-Based and Model-Free 6D Object Pose Estimation Van Nguyen Nguyen Stephen Tyree Andrew Guo Mederic Fourmy Anas Gouda ... Stan Birchfield Jiri Matas Yann Labbé M. Sundermeyer Tomás Hodan 3DPC 595 15 0 03 Apr 2025
MM-Spatial: Exploring 3D Spatial Understanding in Multimodal LLMs Erik Daxberger Nina Wenzel David Griffiths Haiming Gang Justin Lazarow ... Kai Kang Marcin Eichner Yue Yang Afshin Dehghan Peter Grasch 270 29 0 17 Mar 2025
6D Object Pose Tracking in Internet Videos for Robotic ManipulationInternational Conference on Learning Representations (ICLR), 2025 Georgy Ponimatkin Martin Cífka Tomáš Souček Médéric Fourmy Yann Labbé Vladimir Petrik Josef Sivic 313 6 0 13 Mar 2025
Novel Object 6D Pose Estimation with a Single Reference View Jian Liu Wei Sun Kai Zeng Jin Zheng Hui Yang Hossein Rahmani Hossein Rahmani Lin Wang 296 5 0 07 Mar 2025
Point Policy: Unifying Observations and Actions with Key Points for Robot Manipulation Siddhant Haldar Lerrel Pinto 3DPC 303 21 0 27 Feb 2025
Multi-Keypoint Affordance Representation for Functional Dexterous GraspingIEEE Robotics and Automation Letters (IEEE RA-L), 2025 Fan Yang DongSheng Luo Wenrui Chen Jiacheng Lin Junjie Cai Kailun Yang Hui Yuan Yaonan Wang 362 1 0 27 Feb 2025
A Critical Synthesis of Uncertainty Quantification and Foundation Models in Monocular Depth Estimation S. Landgraf Rongjun Qin Markus Ulrich UQCV 263 3 0 14 Jan 2025
VinT-6D: A Large-Scale Object-in-hand Dataset from Vision, Touch and ProprioceptionInternational Conference on Machine Learning (ICML), 2024 Zhaoliang Wan Yonggen Ling Senlin Yi Lu Qi Wangwei Lee ... Xiao Teng Peng Lu Xu Yang Ming-Hsuan Yang Hui Cheng 346 9 0 31 Dec 2024
GFreeDet: Exploiting Gaussian Splatting and Foundation Models for Model-free Unseen Object Detection in the BOP Challenge 2024 Xingyu Liu Yingyue Li Chengxi Li Gu Wang Chenyangguang Zhang Ziqin Huang Xiangyang Ji 3DGS 416 3 0 02 Dec 2024
RoboSpatial: Teaching Spatial Understanding to 2D and 3D Vision-Language Models for RoboticsComputer Vision and Pattern Recognition (CVPR), 2024 Chan Hee Song Valts Blukis Jonathan Tremblay Stephen Tyree Yu-Chuan Su Stan Birchfield 760 78 0 25 Nov 2024
Towards an Efficient Synthetic Image Data Pipeline for Training Vision-Based Robot Systems Peter Gavriel Adam Norton Kenneth Kimble Megan Zimmerman 225 1 0 09 Nov 2024
GRS: Generating Robotic Simulation Tasks from Real-World Images Alex Zook Fan-Yun Sun Josef Spjut Valts Blukis Stan Birchfield Jonathan Tremblay 395 8 0 20 Oct 2024
Object Pose Estimation Using Implicit Representation For Transparent Objects Varun Burde Artem Moroz Vit Zeman Pavel Burget 175 1 0 17 Oct 2024
ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic ManipulationConference on Robot Learning (CoRL), 2024 Wenlong Huang Chen Wang Yongqian Li Ruohan Zhang Li Fei-Fei 339 244 0 03 Sep 2024
Comparative Evaluation of 3D Reconstruction Methods for Object Pose EstimationIEEE Workshop/Winter Conference on Applications of Computer Vision (WACV), 2024 Varun Burde Assia Benbihi Pavel Burget Torsten Sattler 285 1 0 15 Aug 2024
Language-Guided Object-Centric Diffusion Policy for Generalizable and Collision-Aware Robotic Manipulation Hang Li Qian Feng Zhi Zheng Jianxiang Feng Zhaopeng Chen Alois Knoll 404 0 0 29 Jun 2024
Review of Zero-Shot and Few-Shot AI Algorithms in The Medical Domain Maged Badawi Mohammedyahia Abushanab Sheethal Bhat Andreas Maier VLM 224 4 0 23 Jun 2024
Realistic Data Generation for 6D Pose Estimation of Surgical Instruments Juan Antonio Barragan Jintan Zhang Haoying Zhou Adnan Munawar Peter Kazanzides MedIm 182 4 0 11 Jun 2024
Task and Motion Planning for Execution in the Real Tianyang Pan Rahul Shome Lydia E. Kavraki 234 4 0 05 Jun 2024
Vision-based Manipulation from Single Human Video with Open-World Object Graphs Yifeng Zhu Arisrei Lim Peter Stone Yuke Zhu 316 50 0 30 May 2024
Deep Learning-Based Object Pose Estimation: A Comprehensive Survey Jian Liu Wei Sun Hui Yang Zhiwen Zeng Chongpei Liu Jin Zheng Xingyu Liu Hossein Rahmani Andrii Zadaianchuk Lin Wang 440 46 0 13 May 2024
Learning Embeddings with Centroid Triplet Loss for Object Identification in Robotic Grasping Anas Gouda Max Schwarz Christopher Reining Sven Behnke Alice Kirchheim VLM 137 2 0 09 Apr 2024
Gen3DSR: Generalizable 3D Scene Reconstruction via Divide and Conquer from a Single ViewInternational Conference on 3D Vision (3DV), 2024 Andreea Dogaru M. Ozer Bernhard Egger 3DGS 333 22 0 04 Apr 2024
KITchen: A Real-World Benchmark and Dataset for 6D Object Pose Estimation in Kitchen Environments Abdelrahman Younes Tamim Asfour 376 3 0 24 Mar 2024
Multi-Object RANSAC: Efficient Plane Clustering Method in a Clutter Seunghyeon Lim Youngjae Yoo Jun Ki Lee Byoung-Tak Zhang 191 2 0 19 Mar 2024
BOP Challenge 2023 on Detection, Segmentation and Pose Estimation of Seen and Unseen Rigid Objects Tomás Hodan M. Sundermeyer Yann Labbé Van Nguyen Nguyen Gu Wang Eric Brachmann Bertram Drost Vincent Lepetit Carsten Rother Jiri Matas 3DPC 324 72 0 14 Mar 2024
A Benchmark Grocery Dataset of Realworld Point Clouds From Single View Shivanand Venkanna Sheshappanavar Tejas Anvekar Shivanand Kundargi Yufan Wang Chandra Kambhamettu 321 3 0 12 Feb 2024
VR-based generation of photorealistic synthetic data for training hand-object tracking models Chengyan Zhang Rahul Chaudhari 252 1 0 31 Jan 2024
PARSAC: Accelerating Robust Multi-Model Fitting with Parallel Sample ConsensusAAAI Conference on Artificial Intelligence (AAAI), 2024 Florian Kluger Bodo Rosenhahn 132 10 0 26 Jan 2024
FMB: a Functional Manipulation Benchmark for Generalizable Robotic Learning Jianlan Luo Charles Xu Fangchen Liu Liam Tan Zipeng Lin Jeffrey Wu Pieter Abbeel Sergey Levine 156 67 0 16 Jan 2024
Object-Centric Instruction Augmentation for Robotic Manipulation Junjie Wen Yichen Zhu Minjie Zhu Jinming Li Zhiyuan Xu ... Yaxin Peng Chaomin Shen Dong Liu Feifei Feng Jian Tang LM&Ro 310 22 0 05 Jan 2024