Submission: GigaPose+MegaPose (5 hypothesis)/HB

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Submission name
Submission time (UTC) Feb. 28, 2024, 11:50 a.m.
User nvnguyen
Task Model-based 6D localization of unseen objects
Dataset HB
Description
Evaluation scores
AR:0.722
AR_MSPD:0.765
AR_MSSD:0.713
AR_VSD:0.689
average_time_per_image:7.041

Method: GigaPose+MegaPose (5 hypothesis)

User nvnguyen
Publication https://arxiv.org/abs/2311.14155
Implementation https://github.com/nv-nguyen/gigapose
Training image modalities RGB
Test image modalities RGB
Description

We use GigaPose (Nguyen et al., CVPR 2024) to extract 5 coarse pose hypothesis, then refine the pose with MegaPose (Labbé et al., CoRL 2022). The final prediction is selected by coarse network of MegaPose.

GigaPose: https://github.com/nv-nguyen/gigapose

MegaPose: https://github.com/megapose6d/megapose6d

Computer specifications V100