Process

Object pose estimation

You might say: 6D pose

6D pose estimation finds an object's 3D position and orientation from image or depth data, often using a known object model.

What it does
Provides the object frame that a grasp or placement planner uses.
Ask
What position and angle error is acceptable, and how are symmetric objects scored?
Typical
BOP evaluates 6D pose methods on multiple datasets with pose-error functions and separate evaluation of ambiguity.

What to look for

  1. Object 3D position and orientation
  2. Pose from image or depth data
  3. Object frame for grasping or placement
  4. Position and angle error

Sources

  1. Tomas Hodan et al., BOP: Benchmark for 6D Object Pose Estimation, Abstract and benchmark descriptionWe propose a benchmark for 6D pose estimation of a rigid object from a single RGB-D input image.
  2. Peter Corke, Robotics, Vision and Control, Ch. 14, Using Multiple ImagesThis allowed us to estimate the object's 3-dimensional pose from the 2-dimensional image data.

Use it on your project

teardown-apply: hold "Object pose estimation" (pose-estimation) from the teardown at https://teardownatlas.com/robotics/ against my project

Paste it into a coding agent that has the teardown skills.

An AI agent wrote this map with the teardown skill. It can contain errors: check the sources before you rely on a part. About and legal