This is the official source code for the CVPR 2022 work, FS6D: Few-Shot 6D Pose Estimation of Novel Objects.

Project Page | Arxiv | ShapeNet6D

For those who want the code for reference, the uncleaned raw source code and pre-trained weights can be found here. I will clean it up if I have time.

Please cite FS6D if you use this repository or the ShapeNet6D dataset in your publications:

@InProceedings{he2022fs6d,
  author    = {Yisheng, He and Yao, Wang and Haoqiang, Fan and Qifeng, Chen and Jian, Sun},
  title     = {FS6D: Few-Shot 6D Pose Estimation of Novel Objects},
  booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
  month     = {June},
  year      = {2022},
}

• ShapeNet6D: Download the ShapeNet6D dataset from OneDrive.
• LineMOD: Download the LineMOD dataset from BOP Benchmark.
• YCB-Video: Download the YCB-Video Dataset from BOP Benchmark.

Licensed under the MIT License.