GFreeDet2

GFreeDet2: Exploiting Gaussian Splatting and Foundation Models for RGB-based Model-free 2D and 6D Detection of Unseen Objects

2D Detection Results

2D detection results can be downloaded from here.

Pre-trained GS Objects

Pre-trained GS objects can be downloaded from here.

Citing

@InProceedings{GFreeDet2_ICRA26,
    title     = {GFreeDet2: Exploiting Gaussian Splatting and Foundation Models for RGB-based Model-free 2D and 6D Detection of Unseen Objects},
    author    = {Wang, Gu and Liu, Xingyu and Tang, Jingyi and Li, Chengxi and Li, Yingyue and Huang, Ziqin and Ji, Xiangyang},
    booktitle = {ICRA},
    year      = {2026}
}