3D-Object Perception Transformer (3PT)

Agastya Kalra; Tim Salzmann; Guy Stoppi; Dmitrii Marin; Rishav Agarwal; Vage Taamazyan; Martin Bokeloh; Stefan Hinterstoisser; Anton Boykov; Alberto Dall'Olio; Pravin Dangol; Kartik Venkataraman; Huaijin Chen

CVPR2026顶会

3D-Object Perception Transformer (3PT)

Agastya Kalra, Tim Salzmann, Guy Stoppi, Dmitrii Marin, Rishav Agarwal, Vage Taamazyan, Martin Bokeloh, Stefan Hinterstoisser, Anton Boykov, Alberto Dall'Olio, Pravin Dangol, Kartik Venkataraman, Huaijin Chen

出版方

2026年份

1被引次数

摘要

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.