ZeroBP improves zero-shot 6D pose estimation for bin-picking by adding position-aware cross-attention with directional-vector encoding, boosting average recall from 36.7% to 45.8% on ROBI.
Model Based Training, Detection and Pose Estimation of Texture-Less 3D Objects in Heavily Cluttered Scenes
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ZeroBP: Learning Position-Aware Correspondence for Zero-shot 6D Pose Estimation in Bin-Picking
ZeroBP improves zero-shot 6D pose estimation for bin-picking by adding position-aware cross-attention with directional-vector encoding, boosting average recall from 36.7% to 45.8% on ROBI.