PX4 Autopilot Software

Open source hardware and software platform to build a small scale self driving car.

ROS packages for Turtlebot3

Code for "PVNet: Pixel-wise Voting Network for 6DoF Pose Estimation" CVPR 2019 oral

This research project implements a real-time object detection and pose estimation method as described in the paper, Tekin et al. "Real-Time Seamless Single Shot 6D Object Pose Prediction", CVPR 201…

Efficient 6-DoF Grasp Generation in Cluttered Scenes

Easy-to-use glTF 2.0-compliant OpenGL renderer for visualization of 3D scenes.

Modern OpenGL renderer written in C++17

A procedural Blender pipeline for photorealistic training image generation

MoreFusion: Multi-object Reasoning for 6D Pose Estimation from Volumetric Fusion, CVPR 2020

Detection 3D

try to implement halcon shape based matching, refer to machine vision algorithms and applications, page 317 3.11.5, written by halcon engineers

This project involves using Intel Realsense to capture RGB images, depth images, and pseudo colored depth images, and is suitable for creating custom datasets for algorithms such as object detectio…

Tools to create pixel-wise object masks, bounding box labels (2D and 3D) and 3D object model (PLY triangle mesh) for object sequences filmed with an RGB-D camera. This project prepares training and…

Code for "PVNet: Pixel-wise Voting Network for 6DoF Pose Estimation" CVPR 2019 oral

Code for "MegaPose: 6D Pose Estimation of Novel Objects via Render & Compare", CoRL 2022.

[CVPR2021 Oral] FFB6D: A Full Flow Bidirectional Fusion Network for 6D Pose Estimation.

Official Code: Implicit 3D Orientation Learning for 6D Object Detection from RGB Images

[IROS 2020] se(3)-TrackNet: Data-driven 6D Pose Tracking by Calibrating Image Residuals in Synthetic Domains

Code for "PVNet: Pixel-wise Voting Network for 6DoF Pose Estimation" CVPR 2019 oral

SE(3) Diffusion Model-based Point Cloud Registration for Robust 6D Object Pose Estimation (Accepted by NeurIPS-2023)

Source code of Robotic Grasping Using Object Detection and Primitive Geometric Model Based 6D Pose Estimation

[CVPR 2023] BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objects

Python toolkit for the BOP benchmark: evaluation and utilities for 6D object pose estimation.

PoET: Pose Estimation Transformer for Single-View, Multi-Object 6D Pose Estimation

Pytorch code for ECCV'22 paper. ShAPO: Implicit Representations for Multi-Object Shape, Appearance and Pose Optimization

Computer vision utils for Blender (generate instance annoatation, depth and 6D pose by one line code)

[IROS 2021] BundleTrack: 6D Pose Tracking for Novel Objects without Instance or Category-Level 3D Models