Attention

As of June 30, 2025, the Isaac ROS Buildfarm for Isaac ROS 2.1 on Ubuntu 20.04 Focal is no longer supported.

Due to an isolated infrastructure event, all ROS 2 Humble Debian packages that were previously built for Ubuntu 20.04 are no longer available in the Isaac Apt Repository. All artifacts for Isaac ROS 3.0 and later are built and maintained with a more robust pipeline.

Users are encouraged to migrate to the latest version of Isaac ROS. The source code for Isaac ROS 2.1 continues to be available on the release-2.1 branches of the Isaac ROS GitHub repositories.

The original documentation for Isaac ROS 2.1 is preserved below.

Pose Estimation

In order to manipulate an object, a robot must be able to estimate the pose of the target relative to itself. Pose estimation processes input camera images to infer the 6-DoF pose of the target object in the scene.

Deep learning models have revolutionized pose estimation over classical techniques. DNN models with architectures such as DOPE (Deep Object Pose Estimation) and CenterPose from NVIDIA Research can be trained with monocular camera images of real-world objects to estimate the pose of the object in a novel scene with relatively high accuracy.

• CenterPose
  • Repositories and Packages
• DOPE
  • Repositories and Packages