3D-Object Perception Transformer (3PT)

Detection (Rel. AP) Pose (AP-mm on BOP-Ind.) 6D Pose Figure 1. 3PT achieves state-of-the-art zero-shot 3D object perception, including detection, segmentation, and 6DoF pose estimation. Unlike previous methods, 3PT successfully reconstructs poses in complex industrial scenes, such as the bracket houseof-cards structure shown above.