Yegyu Han

Taegyoon Yoon, Yegyu Han, Seojin Ji et al.

Smart glass is emerging as an useful device since it provides plenty of insights under hands-busy, eyes-on-task situations. To understand the context of the wearer, 6D object pose estimation in egocentric view is becoming essential. However, existing 6D object pose estimation benchmarks fail to capture the challenges of real-world egocentric applications, which are often dominated by severe motion blur, dynamic illumination, and visual obstructions. This discrepancy creates a significant gap between controlled lab data and chaotic real-world application. To bridge this gap, we introduce EgoXtreme, a new large-scale 6D pose estimation dataset captured entirely from an egocentric perspective. EgoXtreme features three challenging scenarios - industrial maintenance, sports, and emergency rescue - designed to introduce severe perceptual ambiguities through extreme lighting, heavy motion blur, and smoke. Evaluations of state-of-the-art generalizable pose estimators on EgoXtreme indicate that their generalization fails to hold in extreme conditions, especially under low light. We further demonstrate that simply applying image restoration (e.g., deblurring) offers no positive improvement for extreme conditions. While performance gain has appeared in tracking-based approach, implying using temporal information in fast-motion scenarios is meaningful. We conclude that EgoXtreme is an essential resource for developing and evaluating the next generation of pose estimation models robust enough for real-world egocentric vision. The dataset and code are available at https://taegyoun88.github.io/EgoXtreme/

Yegyu Han, Taegyoon Yoon, Dayeon Woo et al.

Recent advances on 6D object-pose estimation have achieved high performance on representative benchmarks such as LM-O, YCB-V, and T-Less. However, these datasets were captured under fixed illumination and camera settings, leaving the impact of real-world variations in illumination, exposure, gain or depth-sensor mode-and the potential of test-time sensor control to mitigate such variations-largely unexplored. To bridge this gap, we introduce SenseShift6D, the first RGB-D dataset that physically sweeps 13 RGB exposures, 9 RGB gains, auto-exposure, 4 depth-capture modes, and 5 illumination levels. For five common household objects (spray, pringles, tincase, sandwich, and mouse), we acquire 166.4k RGB and 16.7k depth images, which can provide 1,380 unique sensor-lighting permutations per object pose. Experiments with state-of-the-art models on our dataset demonstrate that applying multimodal sensor control at test time yields substantial performance gains, achieving a 19.5 pp improvement on pretrained generalizable models. It also enhances robustness precisely where those models tend to fail. Moreover, even instance-level pose estimators, where train and test set share identical object and background, performance still varies under environmental and sensor change, demonstrating that test-time sensor control remains effective compared to costly expansions in the quantity and diversity of real-world training data, without any additional training. SenseShift6D extends the object pose evaluation paradigm from data-centered to sensor-aware robustness, laying a foundation for adaptive, self-tuning perception systems capable of operating robustly in uncertain real-world environments.