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Published at November 25

UNOPose: Unseen Object Pose Estimation with an Unposed RGB-D Reference Image

cs.CV

Released Date: November 25, 2024

Authors: Xingyu Liu¹, Gu Wang¹, Ruida Zhang¹, Chenyangguang Zhang¹, Federico Tombari², Xiangyang Ji¹

Aff.: ¹Tsinghua University; ²Technical University of Munich

Arxiv: http://arxiv.org/abs/2411.16106v1

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Method	Seg. Model	Modality	Ref. Type	LM-O	TUD-L	YCB-V	Avg	Time (s)
ZTE-PPF [1]	MRCNN [22]	D	Model	66.3	90.4	50.2	69.0	0.74
Koenig-PPF [35]	Retina/MRCNN	RGB-D	Model	63.1	92.0	70.1	75.1	0.99
Ref. AlignCenter	UNOSeg-SAM	D	Image	27.3	28.8	47.5	34.5	2.69
FPFH+RANSAC [65]	UNOSeg-SAM	D	Image	31.0	31.0	50.0	37.3	6.38
FPFH+MAC [89]	UNOSeg-SAM	D	Image	22.5	22.1	49.6	31.4	136.94
PPF [17]	UNOSeg-SAM	D	Image	29.7	14.8	38.3	27.6	11.79
PPF_3D_ICP [17]	UNOSeg-SAM	D	Image	44.7	29.1	66.8	46.9	14.27
FCGF+RANSAC [11]	UNOSeg-SAM	D	Image	38.9	59.0	57.6	51.8	10.96
FCGF+MAC [89]	UNOSeg-SAM	D	Image	33.9	48.3	51.0	44.4	60.53
UTOPIC [10]	UNOSeg-SAM	D	Image	13.7	35.4	10.5	19.9	4.00
GeDi [62]	UNOSeg-SAM	D	Image	42.8	67.3	60.6	56.9	48.89
FreeZe [4]	UNOSeg-SAM	RGB-D	Image	45.5	68.3	65.5	59.8	52.96
SAM-6D^∗ [46]	UNOSeg-SAM	RGB-D	Posed Image	54.5	29.7	68.1	50.8	4.21
UNOPose (Ours)	UNOSeg-FastSAM	RGB-D	Image	55.8	66.5	81.9	68.1	1.11
UNOPose (Ours)	UNOSeg-SAM	RGB-D	Image	58.7	71.0	83.1	70.9	3.70