We demonstrate the effectiveness of deep features extracted from self-supervised, pre-trained Vision Transformer (ViT) for Zero-shot 6D pose estimation. For more detailed information check out the corresponding [paper].

Note that this repo only deals with 6D pose estimation, you need segmentation masks as input. These can be obtained with supervised trained methods or zero-shot methods. For zero-shot we refer to cnos.

To setup the environment to run the code locally follow these steps:

conda env create -f environment.yml
conda activate zs6d

Otherwise, run the following commands:

conda create --name zs6d python=3.9
conda activate zs6d
conda install pytorch==2.0.1 torchvision==0.15.2 torchaudio==2.0.2 pytorch-cuda=11.7 -c pytorch -c nvidia
pip install tqdm==4.65.0
pip install timm==0.9.16
pip install matplotlib==3.8.3
pip install scikit-learn==1.4.1.post1
pip install opencv-python==4.9.0
pip install git+https://github.com/lucasb-eyer/pydensecrf.git@dd070546eda51e21ab772ee6f14807c7f5b1548b
pip install transforms3d==0.4.1
pip install pillow==9.4.0
pip install plyfile==1.0.3
pip install trimesh==4.1.4
pip install imageio==2.34.0
pip install pypng==0.20220715.0
pip install vispy==0.12.2
pip install pyopengl==3.1.1a1
pip install pyglet==2.0.10
pip install numba==0.59.0
pip install jupyter==1.0.0

To generate templates from a object model to perform inference, we refer to the ZS6D_template_rendering repository.

1. set up a config file for template preparation

zs6d_configs/template_gt_preparation_configs/your_template_config.json

2. run the preparation script with your config_file to generate your_template_gt_file.json and prepare the template descriptors and template uv maps

python3 prepare_templates_and_gt.py --config_file zs6d_configs/template_gt_preparation_configs/your_template_config.json

After setting up your_template_config.json you can instantiate your ZS6D module and perform inference. An example is provided in:

test_zs6d.ipynb

1. set up a config file for BOP evaluation

zs6d_configs/bop_eval_configs/your_eval_config.json

2. Create a ground truth file for testing, the files for BOP'19-23 test images are provided for lmo, tless and ycbv. For example for lmo:

gts/test_gts/lmo_bop_test_gt_sam.json

Additionally, you have to download the corresponding BOP test images. If you want to test another dataset as the provided, you have to generate a ground truth file with the following structure:

{
  "object_id": [
    {
      "scene_id": "00001", 
      "img_name": "relative_path_to_image/image_name.png", 
      "obj_id": "..", 
      "bbox_obj": [], 
      "cam_t_m2c": [], 
      "cam_R_m2c": [], 
      "cam_K":[],
      "mask_sam": [] // mask in RLE encoding
    }
    ,...
  ]
}

3. run the evaluation script with your_eval_config.json

python3 prepare_templates_and_gt.py --config_file zs6d_configs/template_gt_preparation_configs/your_eval_config.json

This project is built upon dino-vit-features, which performed a very comprehensive study about features of self-supervised pretrained Vision Transformers and their applications, including local correspondence matching. Here is a link to their paper. We thank the authors for their great work and repo.

If you found this repository useful please consider starring ⭐ and citing :

@article{ausserlechner2023zs6d,
  title={ZS6D: Zero-shot 6D Object Pose Estimation using Vision Transformers},
  author={Ausserlechner, Philipp and Haberger, David and Thalhammer, Stefan and Weibel, Jean-Baptiste and Vincze, Markus},
  journal={arXiv preprint arXiv:2309.11986},
  year={2023}
}