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`isaac_ros_foundationpose` is used in a graph of nodes to estimate the pose of
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a novel object using 3D bounding cuboid dimensions. It’s developed on top of
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passes these refined hypotheses to the score model, which selects and finalizes the pose estimation.
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Additionally, the refine model can serve for tracking, that updates the pose estimation based on
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new image inputs and the previous frame’s pose estimate. This tracking process is more efficient
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compared to pose estimation, which speeds exceeding 120 FPS on the Jetson Orin platform.
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compared to pose estimation, which speeds exceeding 120 FPS on the Jetson Thor platform.
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`isaac_ros_dope` is used in a graph of nodes to estimate the pose of a
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known object with 3D bounding cuboid dimensions. To produce the
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using [Triton](https://github.com/triton-inference-server/server) or
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[TensorRT](https://developer.nvidia.com/tensorrt) from [Isaac ROS DNN Inference](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_dnn_inference).
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For preprocessing, packages in this rely on the `Isaac ROS DNN Image Encoder`,
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which can also be found at [Isaac ROS DNN Inference](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_dnn_inference/blob/main/isaac_ros_dnn_image_encoder).
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which can also be found at [Isaac ROS DNN Inference](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_dnn_inference/blob/release-4.0/isaac_ros_dnn_image_encoder).
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## Performance
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| Sample Graph<br/><br/> | Input Size<br/><br/> | AGX Orin<br/><br/> | Orin NX<br/><br/>| Orin Nano Super 8GB<br/><br/> | x86_64 w/ RTX 4090<br/><br/>|
*[Try More Examples](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_pose_estimation/isaac_ros_foundationpose/index.html#try-more-examples)
NVIDIA is dedicated to the security and trust of our software products and services, including all source code repositories managed through our organization.
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If you need to report a security issue, please use the appropriate contact points outlined below. **Please do not report security vulnerabilities through GitHub.**
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## Reporting Potential Security Vulnerability in an NVIDIA Product
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To report a potential security vulnerability in any NVIDIA product:
- We encourage you to use the following PGP key for secure email communication: [NVIDIA public PGP Key for communication](https://www.nvidia.com/en-us/security/pgp-key)
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- Please include the following information:
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- Product/Driver name and version/branch that contains the vulnerability
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- Type of vulnerability (code execution, denial of service, buffer overflow, etc.)
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- Instructions to reproduce the vulnerability
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- Proof-of-concept or exploit code
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- Potential impact of the vulnerability, including how an attacker could exploit the vulnerability
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While NVIDIA currently does not have a bug bounty program, we do offer acknowledgement when an externally reported security issue is addressed under our coordinated vulnerability disclosure policy. Please visit our [Product Security Incident Response Team (PSIRT)](https://www.nvidia.com/en-us/security/psirt-policies/) policies page for more information.
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## NVIDIA Product Security
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For all security-related concerns, please visit NVIDIA's Product Security portal at https://www.nvidia.com/en-us/security
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