SenseShift6D: Multimodal RGB-D Benchmarking for Robust 6D Pose Estimation across Environment and Sensor Variations 2025-10-11 Joint Learning of Pose Regression and Denoising Diffusion with Score ...

Abstract: Estimating the 6D pose of rigid objects is a critical upstream task in many robotics applications. Most existing methods rely on RGB or RGB-D sensing modalities, which suffer from ...

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 applied at test-time ...

Abstract: An accurate 6D object pose estimation is essential for robotic manipulation and augmented reality applications. Existing methods typically require extensive training for new objects, ...