This paper presents a comprehensive survey on vision-based robotic grasping. We
conclude three key tasks during vision-based robotic grasping, which are object localization …

Object pose detection and tracking has recently attracted increasing attention due to its wide
applications in many areas, such as autonomous driving, robotics, and augmented reality …

We present a near real-time (10Hz) method for 6-DoF tracking of an unknown object from a
monocular RGBD video sequence, while simultaneously performing neural 3D …

We present HOI4D, a large-scale 4D egocentric dataset with rich annotations, to catalyze the
research of category-level human-object interaction. HOI4D consists of 2.4 M RGB-D …

This paper addresses the challenge of 6DoF pose estimation from a single RGB image
under severe occlusion or truncation. Many recent works have shown that a two-stage …

We present FoundationPose a unified foundation model for 6D object pose estimation and
tracking supporting both model-based and model-free setups. Our approach can be instantly …

While 6D object pose estimation has recently made a huge leap forward, most methods can
still only handle a single or a handful of different objects, which limits their applications. To …

For years, researchers have been devoted to generalizable object perception and
manipulation, where cross-category generalizability is highly desired yet underexplored. In …

Category-level 6D object pose estimation aims to predict the position and orientation for
unseen objects, which plays a pillar role in many scenarios such as robotics and augmented …

In this paper, we focus on category-level 6D pose and size estimation from a monocular
RGB-D image. Previous methods suffer from inefficient category-level pose feature …