Pollen-Vision: Unified interface for Zero-Shot vision models in robotics
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The paper presents the first real‑world 6D pose ground‑truth dataset for red‑stage strawberries, collected from 12,040 images at an actual farm using indirect camera pose recovery and 3D bounding‑box annotation. It also introduces a synthetic dataset rendered in NVIDIA Isaac Sim with scene‑level realism and domain randomization. Experiments show that models trained solely on synthetic data do not transfer well to in‑field images, but adding a small amount of real data significantly improves both translation and rotation accuracy across various backbone encoders.
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