Multi-object 6D pose estimation

NVlabs / BundleSDF

[CVPR 2023] BundleSDF: Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objects

https://bundlesdf.github.io/

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Multi-object 6D pose estimation #112

Closed junho-choi-div closed 10 months ago

junho-choi-div commented 10 months ago

Hi, may I know if BundleSDF methodology works well with multiple objects? In the given data, I think I'm good at 6D estimation for a single object, but if there are multiple objects placed in one frame, I wonder if I'm good at 6D estimation even then. Also, I wonder if they perform well even when objects overlap each other.Thanks!

wenbowen123 commented 10 months ago

For multi-object, currently there is no mechanism to solve all of them at once. You need to run bundlesdf multiple times. Each time only mask one object of interest. The occlusion (overlap) between them shouldn't affect, as bundlesdf is robust to occlusions (as shown by the human-object interaction examples).