ZS6D

[paper] We demonstrate the effectiveness of deep features extracted from self-supervised, pre-trained Vision Transformer (ViT) for Zero-shot 6D pose estimation.

Template rendering:

To generate templates from a object model to perform inference, we refer to the ZS6D_template_rendering repository.

Acknowledgements

This project is built upon dino-vit-features, which performed a very comprehensive study about features of self-supervised pretrained Vision Transformers and their applications, including local correspondence matching. Here is a link to their paper. We thank the authors for their great work and repo.

Citation

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@article{ausserlechner2023zs6d,
  title={ZS6D: Zero-shot 6D Object Pose Estimation using Vision Transformers},
  author={Ausserlechner, Philipp and Haberger, David and Thalhammer, Stefan and Weibel, Jean-Baptiste and Vincze, Markus},
  journal={arXiv preprint arXiv:2309.11986},
  year={2023}
}