foundationpose 开源项目推荐（13 个）

WangYuLin-SEU /HCCEPose

[ICCV'25 Highlight] HccePose (BF): Predicting Front & Back Surfaces to Construct Ultra-Dense 2D-3D Correspondences for Pose Estimation

zz990099 /foundationpose_cpp

基于 TensorRT 和 C++ 的 FoundationPose 部署，使集成变得轻量且高效。支持杰森·奥林。 改编自nvidia_isaac_pose_esitimation。

nanj-robotics /geni_craner

7-DoF robot manipulator

daxiaozhizhiwu /PBD-AG

PBD-AG: Persistent Baseline-Delta Active Graphs for long-horizon service robots, with G1 relocalization, safe navigation, fine inspection, 6D pose twins, VLA and Agent integration.

jack2148 /rgbd-object-pose-estimation

RGB-D 6D object pose estimation pipeline using RealSense D455, YOLOv8-seg, FoundationPose, and ROS 2.

OfficialBishal /ofpgs_ros

Optimized ROS1 integration package for FoundationPose with Grounded SAM. Provides ROS1 wrapper nodes for real-time 6D object pose estimation with open-vocabulary segmentation. Includes timestamp synchronization and temporal filtering optimizations for Human Support Robot (HSR). FoundationPose and Grounded SAM are external dependencies.

MaxPett /ArUco-marker-FoundationPose-UR3e

ArUco markers and FoundationPose compariosn study

ismael-esp /dexterous-pick-and-place

Dexterous pick-and-place with Allegro hands on a dual-arm UR3/UR3e: FoundationPose 6D perception + BODex grasp synthesis, in Isaac Lab and on real hardware

siddvoh /Localization-Visual-Servoing

FoundationPose vs EKF stereo pose tracking for manipulator visual servoing on an xArm 7. Open source, MIT licensed.

Ilya3503 /bpsimple1

Система машинного зрения и манипуляции. Jetson Orin Nano, RealSense D415, PyBullet/Gazebo-визуализация. Цель - полноценная система автоматизации загрузки заготовок в станок ЧПУ.

ismael-esp /foundationpose-ros2-tracker

Zero-shot 6D object tracking in ROS 2 from a 3D mesh and an object name: YOLO-World + SAM 2 + FoundationPose, robot-ready poses for pick-and-place

hanzibo /object-sdf-studio

Desktop workflow for Orbbec RGB-D capture, SAM3 masks, BundleSDF object reconstruction and FoundationPose offline tracking; upstream licenses apply.

Yanagisawa2002 /PoseLoop

RGB-D instance detection to FoundationPose 6D pose: detector training, runtime integration, and end-to-end development evaluation.