object-pose

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

Betapose for 6D pose estimation

[NeurIPS 25'] 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)

[NeurIPS 2026] Code for "GenCOPE: Syn2Real Generalized Category-Level Object Pose Estimation for Robotic Picking".

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

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

Official Pytorch implementation of RePOSE (ICCV2021)

Generic Pose Estimation Network

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