← Back to Benchmarks
simmediummobile-manipulationmetric · varies
MR6D: Benchmarking 6D Pose Estimation for Mobile Robots
Description
Existing 6D pose estimation datasets primarily focus on small household objects typically handled by robot arm manipulators, limiting their relevance to mobile robotics. Mobile platforms often operate without manipulators, interact with larger objects, and face challenges such as long-range perception, heavy self-occlusion, and diverse camera perspectives. While recent models generalize well to unseen objects, evaluations remain confined to household-like settings that overlook these factors. We