BRAVE-6D: Benchmark for Robotic Active Vision in 6DOF Pose Estimation

Abstract:Detecting and grasping small objects remains a significant challenge in robotics. Active vision, where the robot moves closer to the object, is an intuitive solution, yet comparing approaches on common ground is difficult since identical physical scene setups are required. Hence, we introduce BRAVE-6D, a benchmark designed to evaluate robotic active vision systems for object pose estimation, a crucial first step in grasping objects. BRAVE-6D leverages view synthesis based on Gaussian Splats (3DGS) to provide scenes and tools for benchmarking active vision systems. We show baseline solutions performing visual servoing within the scene and accurately estimating the poses of small objects.

3 pages, 2 figures. Extended abstract presented at ICRA@40, Rotterdam, The Netherlands, September 2024

Robotics (cs.RO)

arXiv:2609.17106 [cs.RO]

(or arXiv:2609.17106v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2609.17106 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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