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Pytorch code for ICRA'22 paper: "Single-Shot Multi-Object 3D Shape Reconstruction and Categorical 6D Pose and Size Estimation"
| Date | Stars |
|---|---|
| 2026-07-24 | 325 |
| 2026-07-25 | 325 |
| 2026-07-28 | 325 |
| 2026-07-30 | 325 |
| 2026-08-06 | 325 |
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# CenterSnap: Single-Shot Multi-Object 3D Shape Reconstruction and Categorical 6D Pose and Size Estimation
[](https://opensource.org/licenses/MIT) [](https://paperswithcode.com/sota/6d-pose-estimation-using-rgbd-on-camera25?p=centersnap-single-shot-multi-object-3d-shape)<img src="demo/Pytorch_logo.png" width="10%">
This repository is the pytorch implementation of our paper:
<a href="https://www.tri.global/" target="_blank">
<img align="right" src="demo/tri-logo.png" width="25%"/>
</a>
**CenterSnap: Single-Shot Multi-Object 3D Shape Reconstruction and Categorical 6D Pose and Size Estimation**<br>
[__***Muhammad Zubair Irshad***__](https://zubairirshad.com), [Thomas Kollar](http://www.tkollar.com/site/), [Michael Laskey](https://www.linkedin.com/in/michael-laskey-4b087ba2/), [Kevin Stone](https://www.linkedin.com/in/kevin-stone-51171270/), [Zsolt Kira](https://faculty.cc.gatech.edu/~zk15/) <br>
International Conference on Robotics and Automation (ICRA), 2022<br>
[[Project Page](https://zubair-irshad.github.io/projects/CenterSnap.html)] [[arXiv](https://arxiv.org/abs/2203.01929)] [[PDF](https://arxiv.org/pdf/2203.01929.pdf)] [[Video](https://www.youtube.com/watch?v=Bg5vi6DSMdM)] [[Poster](https://zubair-irshad.github.io/projects/resources/Poster%7CCenterSnap%7CICRA2022.pdf)]
[](https://colab.research.google.com/github/zubair-irshad/CenterSnap/blob/master/notebook/explore_CenterSnap.ipynb)<br>
Follow-up ECCV'22 work:
**ShAPO: Implicit Representations for Multi-Object Shape, Appearance and Pose Optimization**<br>
[__***Muhammad Zubair Irshad***__](https://zubairirshad.com), [Sergey Zakharov](https://zakharos.github.io/), [Rares Ambrus](https://www.tri.global/about-us/dr-rares-ambrus), [Thomas Kollar](http://www.tkollar.com/site/), [Zsolt Kira](https://faculty.cc.gatech.edu/~zk15/), [Adrien Gaidon](https://adriengaidon.com/) <br>
European Conference on Computer Vision (ECCV), 2022<br>
[[Project Page](https://zubair-irshad.github.io/projects/ShAPO.html)] [[arXiv](https://arxiv.org/abs/2207.13691)] [[PDF](https://arxiv.org/pdf/2207.13691.pdf)] [[Video](https://youtu.be/LMg7NDcLDcA)] [[Poster](https://zubair-irshad.github.io/projects/resources/Poster%7CCenterSnap%7CICRA2022.pdf)]
<p align="center">
<img src="demo/Pose_CS.gif" width="100%">
</p>
<p align="center">
<img src="demo/method.gif" width="100%">
</p>
## Citation
If you find this repository useful, please consider citing:
```
@inproceedings{irshad2022centersnap,
title = {CenterSnap: Single-Shot Multi-Object 3D Shape Reconstruction and Categorical 6D Pose and Size Estimation},
author = {Muhammad Zubair Irshad and Thomas Kollar and Michael Laskey and Kevin Stone and Zsolt Kira},
journal = {IEEE International Conference on Robotics and Automation (ICRA)},
year = {2022}
}
@inproceedings{irshad2022shapo,
title = {ShAPO: Implicit Representations for Multi-Object Shape Appearance and Pose Optimization},
author = {Muhammad Zubair Irshad and Sergey Zakharov and Rares Ambrus and Thomas Kollar and Zsolt Kira and Adrien Gaidon},
journal = {European Conference on Computer Vision (ECCV)},
year = {2022}
}
```
### Contents
- [💻 Environment](#-environment)
- [📊 Dataset (**Updated**)](#-dataset)
- [✨ Training and Inference](#-training-and-inference)
- [📝 FAQ (**Updated**)](#-faq)
- [🙌 Follow-up works (**Updated**)](#follow-up-works)
## 💻 Environment
Create a python 3.8 virtual environment and install requirements:
```bash
cd $CenterSnap_Repo
conda create -y --prefix ./env python=3.8
conda activate ./env/
./env/bin/python -m pip install --upgrade pip
./env/bin/python -m pip install -r requirements.tExcerpt of 10,963 characters
Read on GitHubWould you bet a product on this? Bounded 0–100 and slow moving.
matched fp:defd7f1d374a6eeb, topic:computer-vision, topic:pose-estimation, topic:3d-reconstruction
matched fp:defd7f1d374a6eeb, topic:deep-learning, topic:pytorch
matched fp:defd7f1d374a6eeb, topic:robotics, topic:manipulation, readme:robotics