[ICCV 2023] Official PyTorch implementation of the paper "InterDiff: Generating 3D Human-Object Interactions with Physics-Informed Diffusion"

Betapose for 6D pose estimation

A Python package that provides evaluation and visualization tools for the HO-Cap dataset

[ICRA'25] Code for "MonoDiff9D: Monocular Category-Level 9D Object Pose Estimation via Diffusion Model".

DOPE (Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objects)

Object pose tracker using AprilTag for ROS (melodic)

Official Pytorch implementation of RePOSE (ICCV2021)

Optimized ROS1 integration package for FoundationPose with Grounded SAM. Provides ROS1 wrapper nodes for real-time 6D object pose estimation with open-vocabulary segmentation. Includes timestamp synchronization and temporal filtering optimizations for Human Support Robot (HSR). FoundationPose and Grounded SAM are external dependencies.

[IROS 2020] se(3)-TrackNet: Data-driven 6D Pose Tracking by Calibrating Image Residuals in Synthetic Domains

Code for "DualPoseNet: Category-level 6D Object Pose and Size EstimationUsing Dual Pose Network with Refined Learning of Pose Consistency"

Generic Pose Estimation Network

GDR-Net: Geometry-Guided Direct Regression Network for Monocular 6D Object Pose Estimation. (CVPR 2021)