PLANTPose estimates a banana's 6D pose and per-instance shape deformation from RGB images using a lattice-based mesh warp, trained on synthetic scenes refined by Stable Diffusion, and reports large gains over MegaPose on a 100-image banana benchmark.
Algorithm design and integration for a robotic apple harvesting system,
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Category-Level 6D Object Pose Estimation in Agricultural Settings Using a Lattice-Deformation Framework and Diffusion-Augmented Synthetic Data
PLANTPose estimates a banana's 6D pose and per-instance shape deformation from RGB images using a lattice-based mesh warp, trained on synthetic scenes refined by Stable Diffusion, and reports large gains over MegaPose on a 100-image banana benchmark.