Object pose estimation ros. Hi I found your post a little confusing.

Object pose estimation ros Model Our goal is to estimate the 6D pose of a set of known objects present in an RGB-D image of a cluttered scene. arXiv, Project Deep Object Pose Estimation (DOPE) – ROS inference (CoRL 2018) Resources. For more details, see our CoRL 2018 paper and video. 1k次，点赞28次，收藏30次。Isaac ROS Pose Estimation：NVIDIA加速的3D物体姿态估计 isaac_ros_pose_estimation Deep learned, hardware-accelerated 3D object pose estimation _isaac ros pose estimation Real-time object recognition and 6DOF pose estimation with PCL pointcloud and ROShttp://ros-developer. ** The pakcage has been developed and tested on ROS Melodic. It’s developed on top of FoundationPose model, which is a pre-trained deep learning model developed by NVLabs. Edit Cmakelist to create executable by adding add_executable(object_pose_estimation src/object_pose_estimation. In deep learning-based object pose estimation (see NVIDIA DOPE), a big challenge is deep-learning-based pose estimators might be overconfident in their pose predictions. Mar 8, 2021 · In Pick-and-Place with Object Pose Estimation: Quick Demo, Set Up the ROS Side, Step2. Object info server: For wrapping the object detection and pose estimation servers. Object detection server: For detecting objects in the scene. We have tested on Oct 1, 2024 · The dataset is formatted as an extension to the BOP format [3] which is the state-of-the-art benchmark for 6D pose estimation of objects. Mar 9, 2020 · Deep Object Pose Estimation - ROS Inference This is the official DOPE ROS package for detection and 6-DoF pose estimation of known objects from an RGB camera. The estimated pose consists of both the position and the orientation of the object. Jun 8, 2021 · FastUQ focuses on the uncertainty quantification for deep object pose estimation. Dowload sample dataset from NAS, which generated from this repo and unzip it and put it under Deep-Object-Pose/dataset isaac_ros_centerpose has similarities to isaac_ros_dope in that both estimate an object pose; however, isaac_ros_centerpose provides additional functionality. Seen object pose estimation. Our approach can be instantly applied at test-time to a novel object without fine-tuning, as long as its CAD model is given, or a small number of reference images are captured. - jhu-lcsr/sp_segmenter Deep Object Pose Estimation - ROS Inference This is the official DOPE ROS package for detection and 6-DoF pose estimation of known objects from an RGB camera. Mar 30, 2022 · This is the official DOPE ROS package for detection and 6-DoF pose estimation of known objects from an RGB camera. hey guys , I am working on a pose estimation problem for objects from their 3D pointcloud in the scene using traditional techniques (like PCA / OBB ) within the PCL library. estimating object poses with sufficient accuracy for real-world semantic grasping of known household objects in clutter by a real robot. This Apr 1, 2024 · Accurate six degrees of freedom head pose estimation (6DoF-HPE) with full-range angles make up most of these applications, which require sequential images of the human head as input. isaac_ros_centerpose has similarities to isaac_ros_dope in that both estimate an object pose; however, isaac_ros_centerpose provides additional functionality. Pose estimation server: For estimating the pose of the object in the scene. Networks trained only on synthetic data often perform poorly on real-world data. This tutorial demonstrates how to generate synthetic data to train a 6D pose estimation model, while leveraging Isaac Sim’s APIs to implement domain randomization techniques inspired by NVIDIA’s synthetic data research team. cpp. Training and testing is performed on the exact same instance. FoundationPoseROS2 is a ROS2-integrated system for 6D object pose estimation and tracking, based on the FoundationPose architecture. Start rviz node__ ``` rosrun rviz rviz ``` ## Debugging * The following ROS topics are published (assuming `topic_publishing == 'dope'`): ``` /dope/webcam_rgb_raw # RGB images from camera /dope/dimension_[obj_name] # dimensions of object /dope/pose_[obj_name] # timestamped pose of object /dope/rgb_points # RGB images with detected cuboids CenterPose is a single-stage, keypoint-based method for category-level object pose estimation. com/blog/generate-synthetic-data-for-deep-object-pose-estimation-training-with-nvidia-isaac-ros/ For robotic agents The Ros package to track and get position in world of the selected object. Isaac ROS 提供了一个 ROS 2 包，用于使用 DOPE 进行姿态估计。它使用 NVIDIA Triton 或 NVIDIA TensorRT 与 Isaac ROS DNN 推理。 在训练 DOPE 模型后，您可以在 Omniverse 上使用此软件包运行推理，适用于NVIDIA Jetson或配备 NVIDIA GPU 的系统。 使用 Isaac ROS 姿态估计. Reading your title, I thought that you need to estimate an object pose given RGBD data. org Jul 2, 2024 · In this blog post, we will explore how to perform human pose estimation using PyTorch’s Keypoint R-CNN model and integrate it with ROS2 to visualize body joints and skeletons in RViz. 10月22日，AIR DISCOVER 青年科学家论坛 第三期在清华大学智能产业研究院（AIR）图灵报告厅举行。 本期活动荣幸地邀请到北京大学前沿计算研究中心助理教授、博士生导师王鹤教授，为我们介绍3篇关于六维位姿（6Dof Pose，包括3Dof的Translation和3Dof的Rotation）的论文。 pose estimation. Jun 8, 2023 · Hello everyone, I am working with Isaac ROS pose estimation, but the results I get are less than desirable. It uses RealSense2 with the Segment Anything Model 2 (SAM2) framework for end-to-end, model-based, real-time pose estimation and tracking of novel objects. Early works on 6D pose estimation have introduced diverse benchmarks to evaluate the performance of their approaches [2,8,10,13,14,21,54,60]. Apr 30, 2024 · We’ll kick things off with a discussion on Isaac ROS Pose Estimation - How to use it and how to tune it for your specific use-case. Sep 27, 2018 · Our network also generalizes better to novel environments including extreme lighting conditions, for which we show qualitative results. pcd and config. Since object pose estimation and knowledge distillation. The 3D position of the object is defined by a point (x,y,z) representing the centroid of the object. 2) for novel view RGBD rendering for subsequent render-and-compare. Without loss of generality, we represent 6D poses as a ho-mogeneous transformation matrix, p ∈ SE(3). FoundationPose is currently at the top of the 2023 BOP Leaderboard for 6D localization of unseen This is an algorithm repo and format to ros package let everyone can use it easily, if you want to use, please submodule this repo and create a new branch for your project. Configuring The goal of BOP is to capture the state of the art in 6DoF object pose estimation and related tasks such as 2D object detection and segmentation. 6D object pose estimation Recently, the estimation of 6D object poses including 3D locations and 3D orientations has been an active topic. Sep 9, 2024 · Robots are increasingly envisioned to interact in real-world scenarios, where they must continuously adapt to new situations. Inside that folder you should have a src folder and inside that one 5 folders: moveit_msgs, robotiq, ros_tcp_endpoint, universal_robot and ur3_moveit. My test objects are a bottle of French mustard, 3 Campbells’ tomato soup cans, a box of Cheez It and a can of Spam FoundationPose: Unified 6D Pose Estimation and Tracking of Includes RGB-D Realsense sensor drivers (standalone and ROS package), deep learning ROS package for 2D object segmentation (training and testing), ROS package for 6D pose estimation. - Publishing pose information as a `PoseStamped` message. During training, we first pretrain the neural object field, pose refine network, and pose ranking network separately. For example, the two figures below are the pose estimation results for the “Ketchup Deep learned, NVIDIA-accelerated 3D object pose estimation - SebastianBitsch/ros-pose-estimation CAD Model-based Object Pose Estimation. Navigate to the root Robotics-Object-Pose-Estimation/ directory of this downloaded repository. isaac_ros_foundationpose 用于节点图来估计新物体的姿态，使用 3D 边界立方体尺寸。 它建立在 FoundationPose 模型之上，这是一个由 NVLabs 开发的预训练深度学习模型。 Object Pose Estimation in Robotics Revisited - arXiv. For pose estimation, we first initialize global poses uniformly around the object, which are then refined by the refinement network (Sec. [ arXiv, Code]6-PACK [ICRA 2020] 6-PACK: Category-level 6D Pose Tracker with Anchor-Based Keypoin… **6D Pose Estimation using RGB** refers to the task of determining the six degree-of-freedom (6D) pose of an object in 3D space based on RGB images. The Isaac 3D pose estimation DNN network Jun 19, 2024 · Conclusion. It processes unknown object instances within a recognized category using a single RGB image. Jul 18, 2024 · Hi ROS Community, Join our next ROS Developers Open Class to learn about Pose estimation, which is a task that involves identifying the location of specific points in an image, usually referred to as keypoints. Most existing head pose estimation methods focus on a three degrees of freedom (3DoF) frontal head, which restricts their applications in real-world scenarios. Training. nvidia. The output includes object pose and tracking information, which can be used by manipulator grippers to calculate grasps for objects. md at master · yehengchen/DOPE-ROS-D435 Deep learned, hardware-accelerated 3D object pose estimation. In other words, a 6D pose is composed by a rotation R ∈ SO(3) and a translation t∈ R3, p=[R|t]. Isaac ROS Pose Estimation - estimating the 6 DoF pose of objects using FoundationPose. pcd; Beware of . This will run the trained model and return a Pose Estimation Service Response containing an estimated pose, which is subsequently converted and sent as a new Mover Apr 24, 2023 · I have been trying to use object pose estimation to pick up an object using Moveit, but I am encountering issues when using the 3D coordinates (x, y, z) set as a pose_target, the IK solver is unable to find a solution. The pretrained model detects the projections of 3D keypoints, estimates a 6-DoF pose, and regresses the relative 3D bounding cuboid dimensions. Provided as a ROS package. Jun 19, 2024 · Hi, I would like to estimate the pose for “pallets” object. - Visualizing the detected cube in RViz with the help of RViz markers. Planar object detection and pose estimation (C++) Description: Planar textured object detection based on feature matching between live video feed an a reference image of the object. Techniques like fine-tuning or domain randomization help improve performance. Jan 12, 2023 · Generate Synthetic Data for Deep Object Pose Estimation Training with NVIDIA Isaac ROS For robotic agents to interact with objects in their environment, they must know the position and orientation of objects around them. use "docker build -t unity-robotics:pose-estimation -f docker/Dockerfile Use the Intel D435 real-sensing camera to realize target detection based on the Yolov3 framework under the Opencv DNN framework, and realize the 3D positioning of the Objection according to the depth information. By following this tutorial, you have created a robust ROS 2 node capable of real-time pose estimation using state-of-the-art deep learning techniques. View license Activity. The CenterPose DNN performs object detection on the image, generates 2D keypoints for the object, estimates the 6-DoF pose up to a scale, and regresses relative 3D bounding cuboid Jul 1, 2021 · As previously mentioned, the main goal of this work is to enhance the 6D pose estimation of known objects. Note that the object string should coincide with the path specified in the CUSTOM_OBJECTS list found in the ros_node. Custom properties. In this work, we propose a combination of 2D object detection followed by a 2D-3D mapping of this 2D localization to a 3D location to approach the target object and finally run the 6D pose estimation algorithm to derive the 6D pose. We then freeze the neural object field network and finetune the other modules in the network. Read Isaac ROS Pose Estimation Overview Quickstart Guide: Isaac ROS Pose Estimation To bridge the gap between model-free and model-based setup, we leverage an object-centric neural field (Sec. ROS 2 wrap for YOLO models from Ultralytics to perform object detection and tracking, instance segmentation, human pose estimation and Oriented Bounding Box (OBB). Aubo i5 Dual Arm Collaborative Robot - RealSense D435 - 3D Object Pose Estimation - ROS. Nov 22, 2023 · - Pose estimation for a cube with ArUco markers. For full details, see our CoRL 2018 paper and video. What is Isaac ROS Pose Estimation? Isaac ROS Pose Estimation contains ROS 2 packages to predict the pose of an object. You’ll gain experience integrating ROS with Unity, importing URDF models, collecting labeled training data, and training and deploying a deep learning model. cpp, run via rosrun object_pose_estimation object_pose_estimation -input SavedCloud0. isaac_ros_dope is used in a graph of nodes to estimate the pose of a known object with 3D bounding cuboid dimensions. GigaFlopsis Sep 26, 2024 · 文章浏览阅读1. Deep Object Pose Estimation Mar 30, 2022 · This is the official DOPE ROS package for detection and 6-DoF pose estimation of known objects from an RGB camera. PoseCNN estimates the 3D translation of an object by localizing its center in the image and predicting its distance from the camera. This is the reference implementation of models and code for our paper: ROS Package for Estimating 3D pose of an object using YOLOv3 Tiny from RGB + Depth Image. py file. This is the official repository for NVIDIA's Deep Object Pose Estimation, which performs detection and 6-DoF pose estimation of known objects from an RGB camera. Model Architecture This will grab the current camera view, generate a sensor_msgs/Image message, and send a new Pose Estimation Service Request to the ROS node running pose_estimation_service. Nov 5, 2024 · The pose estimation explained in the isaac_ros_foundationpose quickstart has two main steps: It detects the object on the image and creates a mask using isaac_ros_rtdetr. A. 0 stars Watchers. FoundationPose used to estimate the pose of multiple grocery objects on a tray for robot manipulation. We would like to show you a description here but the site won’t allow us. isaac_ros_foundationpose is used in a graph of nodes to estimate the pose of a novel object using 3D bounding cuboid dimensions. Written on Python Opencv with SIFT + Homography + PnP + blue detector. This technique is used to detect the arrangement of body parts (like joints and limbs in humans or specific points on objects) and understand how they are positioned in space. Copy or download this directory to your ROS Jan 18, 2024 · Originally published at: https://developer. Fortunately, the recent Segment Anything Model (SAM) has showcased remarkable zero-shot transfer performance, which provides a promising solution to tackle this task. 1 Keywords: computer vision, pose estimation, synthetic data, randomization 1 Introduction In order for robots to operate safely and effectively alongside humans, they must be aware of their surroundings. 2020PVN3D [CVPR 2020] PVN3D: A Deep Point-wise 3D Keypoints Voting Network for 6DoF Pose Estimation. The software overlays vectors on objects for users to visualize detection and pose. In your root Robotics-Object-Pose-Estimation folder, you should have a ROS folder. The problem is that the objects are same ( PPVC blocks, in the construction field) but good thing is that they are with quite regular shape. The CenterPose DNN performs object detection on the image, generates 2D keypoints for the object, estimates the 6-DoF pose up to a scale, and regresses relative 3D bounding cuboid @inproceedings{lin2022icra:centerpose, title={Single-Stage Keypoint-based Category-level Object Pose Estimation from an {RGB} Image}, author={Lin, Yunzhi and Tremblay, Jonathan and Tyree, Stephen and Vela, Patricio A. I have got this thing working but sometimes I am having erroneous absolute orientation values for objects. NVIDIA developed Deep Object Pose Estimation (DOPE) to find the six DOF pose of an object. To produce the estimate, a DOPE (Deep Object Pose Estimation) pre-trained model is required. Previ-ous methods mainly rely on matching techniques [11] or local feature descriptors [10], [23] which are not robust to variations of appearances and . During the pose estimation process, the pose is published on the /gen6d/custom/{object name}/pose topic as a PoseStamped message. Keywords: OpenCV Tutorial Level: ADVANCED Object 6DoF Pose Estimation for Assembly Robots Trained on Synthetic Data - ROS Kinetic/Melodic Using Intel® RealSense D435 - yehengchen/DOPE-ROS-D435 This is the official DOPE ROS package for detection and 6-DoF pose estimation of known objects from an RGB camera. The network has been trained on the following YCB objects: cracker box, sugar box, tomato soup can, mustard bottle, potted meat can, and gelatin box. isaac_ros_centerpose This project is modify on the official DOPE ROS package for detection and 6-DoF pose estimation of known objects from an RGB camera. Sep 29, 2020 · 3D pose estimation [using cropped RGB object image as input] —At inference time, you get the object bounding box from object detection module and pass the cropped images of the detected objects, along with the bounding box parameters, as inputs into the deep neural network model for 3D pose estimation. Stars. Furthermore, the dataset can further be utilized for benchmarking different assembly pose estimation techniques as the ground truth labels are provided. 1 watching Sep 11, 2018 · Once trained, the neural network automatically learns to match the pose of an object from the 2D color images. Motivated by this, we introduce SAM-6D, a novel Jan 5, 2024 · Isaac ROS contains six built-in Deep Neural Network (DNN) inference models: Stereo disparity estimation, Semantic image segmentation, Object detection including DetectNet, May 10, 2017 · Deep learning applied to object identification and pose estimation is a plus; Proven experience developing software using C++ (Python is a plus) and ROS; Knowledge of Linux and development on Linux systems; Demonstrated ability to work independently as well as within a highly-motivated team environment isaac_ros_centerpose has similarities to isaac_ros_dope in that both estimate an object pose; however, isaac_ros_centerpose provides additional functionality. This provides a common interface for getting the object information like the object pose or 2D bounding box. But, I was not able to obtain any output because isaac_ros_rtdetr with ´sdetr_amr´ model did not detect my pallet. Some of them show remarkable performance in terms of Sep 26, 2024 · 文章浏览阅读836次，点赞25次，收藏10次。Isaac ROS Pose Estimation 项目使用指南 isaac_ros_pose_estimation Deep learned, hardware-accelerated 3D object pose estimation _isaac ros pose estimation Jun 4, 2020 · The pose must be estimate in real time, and the objects can be one on top of the other and identical, so I have to get the position and the orientation of the object on the top. py. We use it in our Mobile Manipulation Tutorial. For full details, see our CoRL 2018 paper and video . NVIDIA’s FoundationPose is a state-of-the-art foundation model for 6D pose estimation and tracking of novel objects. This model is designed to work with high accuracy in applications that encounter previously unseen objects, without fine-tuning. Nov 27, 2023 · Zero-shot 6D object pose estimation involves the detection of novel objects with their 6D poses in cluttered scenes, presenting significant challenges for model generalizability. Using this network we demonstrate a real-time system estimating object poses with sufficient accuracy for real-world semantic grasping of known household objects in clutter by a real robot. This estimated pose is represented by a ROS frame attached to the object. and Birchfield, Stan}, booktitle={IEEE International Conference on Robotics and Automation (ICRA)}, year={2022} } @inproceedings A ROS (Robotic Operating System) package for simple object detection and planar pose estimation for objects that requires only an image of the plane of the object facilitating quick prototyping of Robotics applications. Then, the pose of the object is determined by homography estimation and provided the size of the object. Run object_pose_estimation. There are also 3D versions of object detection, including instance segmentation, and human pose estimation based on depth images. Superpixel-based semantic segmentation, with object pose estimation and tracking. Instance-level pose estimation methods [19,20,30,47] assume a textured CAD model is given for the object. FoundationPose is a pre-trained model that works on different, novel objects without retraining. - paul-shuvo/ROS-Pose We present FoundationPose, a unified foundation model for 6D object pose estimation and tracking, supporting both model-based and model-free setups. This directory will be used as the ROS catkin workspace. isaac_ros_dope estimates the object’s pose using the 3D bounding cuboid dimensions of a known object in an input image. yaml Mar 3, 2021 · Object Pose Estimationとそれに対応するデモンストレーションは、ロボットソフトウェア開発に用いられるフレームワークであるRobot Operating System (ROS The detection and pose estimation are performed by using some basic PCL functions. com/2017/05/15/object-recognition-and-6dof-pose-estimat Jan 18, 2024 · Knowing an object’s pose is also crucial for robot-to-human handoff and is useful in healthcare, retail, and household scenarios. In this study, we propose a method for automating bin-picking tasks using the Dobot CR5 robotic arm, combining the state-of-the-art YOLOv5 CNN model for object detection with Deep learned, hardware-accelerated 3D object pose estimation. For inference, the researchers use an NVIDIA GeForce GTX 1080 Ti GPU. Streamlines robotic prototyping with just one object image, expediting development. cpp ) User can test the single . Recently, vision language models (VLMs) have shown considerable advances in robotics applications by establishing an understanding between language input and image @inproceedings {deng2019pose, author = {Xinke Deng and Arsalan Mousavian and Yu Xiang and Fei Xia and Timothy Bretl and Dieter Fox}, title = {PoseRBPF: A Rao-Blackwellized Particle Filter for 6D Object Pose Tracking}, booktitle = {Robotics: Science and Systems (RSS)}, year = {2019}} @inproceedings {deng2020self, author = {Xinke Deng and Yu hey guys , I am working on a pose estimation problem for objects from their 3D pointcloud in the scene using traditional techniques (like PCA / OBB ) within the PCL library. Readme License. In this task, the goal is to estimate the 6D pose of an object given an RGB image of the object and the Mar 26, 2025 · Pose Estimation Synthetic Data Generation#. Deep Object Pose Estimation - ROS Inference. Figure 2. The neural network then outputs a relative pose transformation that can be applied to the initial pose, which improves 6D pose estimation, the team said. The 3D rotation of the object is estimated by regressing to a quaternion representation. However, after reading your post, I get the impression that you actually need to estimate a robot's position in an environment (given rgbd, lidar, and encoder data). Can the model detect all pallets zero-shot or model retraining is required? I could also test my setup on your rosbag This page provides steps on how to manually set up a catkin workspace for the Pose Estimation tutorial. This mask is used by FoundationPose to start iterating on the pose estimation. This involves estimating the position and orientation of an object in a scene, and is a fundamental problem in computer vision and robotics. pcd sample with the code on object_pose_estimation. To detect and grasp novel objects, zero-shot pose estimators determine poses without prior knowledge. PoseCNN is an end-to-end Convolutional Neural Network for 6D object pose estimation. This data and its ground truth have powered many deep learning-based methods [17,22,23,27,28,32,47,52,55,61]. Object 6DoF Pose Estimation for Assembly Robots Trained on Synthetic Data - ROS Kinetic/Melodic Using Intel® RealSense D435 - DOPE-ROS-D435/README. In this post, we show how to generate synthetic data to train a DOPE model for an object. PDF Abstract Robotic arms have gained popularity in various industries due to their accuracy and efficiency in completing tasks. Mar 1, 2024 · ROS-Pose achieves real-time simultaneous object detection and planar pose estimation. Go inside the ROS/src/ur3_moveit folder and create a folder Receives the target object masks from the inference server and gets a inference mask; merge the foreground mask and the inference mask to get a final mask; Performs oriented bounding box detection and pose estimation on the final mask with a state machine; The perception core is implemented in C++ using ROS. Using the ketchup DOPE model, I detect objects even less often. 3. Object Pose Estimation Demo This tutorial will go through the steps necessary to perform pose estimation with a UR3 robotic arm in Unity. The object pose is often solved by direct regression [35,67], or con-structing 2D-3D correspondences followed by PnP [47,55], This is the official repository for NVIDIA's Deep Object Pose Estimation, which performs detection and 6-DoF pose estimation of known objects from an RGB camera. The final version is optimized with Intel OpenVINO and implemented together with the pose estimation in C++. Jun 2, 2024 · FoundationPose is a new unified foundation model for single-shot 6D pose estimation and tracking of novel objects. I tried to run isaac_ros_foundationpose with 3d mesh and texture image as input on a rosbag. 3). A package for detecting and estimating the 6-DoF pose of known objects using a novel architecture and data generation pipeline using the state of the art algorithm DOPE in Aubo i5 collaborative robot with Intel Realsense D435i camera. Download the pose estimation model we have trained. Jan 1, 2020 · computer-vision deep-learning tensorflow object-detection semantic-segmentation pose-estimation synthetic-data multi-object 6dof-pose object-pose-estimation 6d-pose-estimation Updated Nov 13, 2024 使用 Isaac ROS 姿态估计. Specifically, I have tried getting the object's 2D center pixel values and converting them into a 3D coordinate with depth The package wraps the implementation of the paper Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimation to a ROS service. This is the official DOPE ROS package for detection and 6-DoF pose estimation of known objects from an RGB camera. Isaac ROS 提供了一个 ROS 2 软件包，用于使用 DOPE 进行姿态估计。它使用 NVIDIA Triton 或 NVIDIA TensorRT 以及 Isaac ROS DNN 推理执行 GPU 加速推理。 在训练完 DOPE 模型后，您可以使用该软件包在 NVIDIA Jetson 或配备 NVDIA GPU 的系统上运行推理。 Dec 10, 2024 · isaac_ros_centerpose has similarities to isaac_ros_dope in that both estimate an object pose; however, isaac_ros_centerpose provides additional functionality. Using the centerpose_shoe model, objects are detected less than 10% of the time without moving them. An accurate, fast, robust, scalable and easy-to-train method that solves this task will have a big impact in application fields such as robotics or augmented reality. Jan 18, 2024 · DOPE is supported in NVIDIA Isaac ROS to provide GPU-accelerated object pose estimation. isaac_ros_foundationpose 用于节点图来估计新物体的姿态，使用 3D 边界立方体尺寸。 它建立在 FoundationPose 模型之上，这是一个由 NVLabs 开发的预训练深度学习模型。 The object detection algorithm is the YOLOX-S model from the YOLOX repository, which is transfer learned on the LOCO dataset. Hi I found your post a little confusing. The CenterPose DNN performs object detection on the image, generates 2D keypoints for the object, estimates the 6-DoF pose up to a scale, and regresses relative 3D bounding cuboid dimensions. shhnhl jgavswl lyhutl ifcdgp kagbeb nvyka diqkt ckveqs ahirc letyjcef tee oqxoy mkxsszt dkgre rxsev