6-DOF Pose Estimation

Estimating the full 6-DOF pose (3D position + 3D orientation) of an object from images or point clouds. Methods include: template matching (PoseCNN), keypoint regression (DOPE, PVNet), render-and-compare (DeepIM), and foundation model approaches (FoundPose, MegaPose). Accurate 6-DOF pose estimation enables precise pick-and-place and assembly task planning.