I recently started a project in the field of 6D Pose Estimation of multiple cardboard boxes in shipping containers. The aim is to detect as many cardboard boxes as possible in the container. Then to estimate the 6D Pose of each detected box. Afterwards the information of the poses are used as input for a autonomous unloading system.
Currently I’m reading a lot of papers and most of them claim to use synthetic data for training/testing. Furthermore they are based on a preknown 3D Model of the object of interest. But in real world, cardboard boxes has not only one sizes as the 3D Model. I also saw a tutorial for 6D Pose Estimation for pallets and boxes, but they are standardized. Does Isaac provide a solution for 6D Pose Estimation of multiple different sized cardboard boxes?
I put here some Images as example of the cardboard set up.