The paper proposes a data‑centric optimization for object pose estimation that uses a physically grounded rotation representation based on principal axes alignment. By aligning an object's coordinate system with its inertial principal axes, the method achieves inherent stability, symmetry‑aware canonicalization, and framework agnosticism, allowing it to be applied at the dataset level without modifying existing networks. Experiments on category‑level and instance‑level models show consistent accuracy improvements while preserving baseline network integrity.
arXiv:2610.09534v1 Announce Type: new Abstract: Rotational symmetry is an important prior in 6D pose estimation, improving pose accuracy and supporting symmetry-aware evaluation. However, current sym...
arXiv:2607.09985v2 Announce Type: replace Abstract: Object pose estimation is a fundamental problem in 3D vision. Although recent state-of-the-art approaches achieve strong performance, generalizatio...
PriorPose introduces a reference-guided correspondence framework for category-level object pose estimation that jointly performs canonicalization and alignment in a shared feature space. By embedding partial observations and a category prior as token sets in a seeded transformer, the network predicts per-point NOCS fields and a canonical deformation, while a deep pose head regresses the similarity transform. A two-part shape consistency objective couples correspondence, deformation, and pose, reducing reliance on memorized canonical orientations and avoiding error cascades, leading to state-of-the-art results on standard and larger-category benchmarks, especially under strict pose thresholds.
WAPR is a zero‑shot wide‑angle pose refinement model that can correct candidate 6D poses with rotational errors up to 90°, achieving fast inference (≤1 s per frame) and high throughput (≈25 detections per second). It leverages rotational symmetry priors to canonicalize pose targets and introduces the SA6D dataset, which augments 944 GSO scans into ~50 k object instances and ~2 M RGB‑D images. Experiments on seven BOP core datasets demonstrate that WAPR sets new state‑of‑the‑art performance for unseen‑object pose estimation in both fast and unconstrained settings.
Rotational symmetry is an important prior in 6D pose estimation, improving pose accuracy and supporting symmetry-aware evaluation. However, current symmetry annotations for 3D objects remain largely m...
Category-level object pose estimation seeks to recover a similarity transform $(R,t,s)$ for unseen instances without instance-specific CAD models. Most competitive methods are correspondence-based: pr...
arXiv:2607. 04930v1 Announce Type: cross Abstract: In the pursuit of robust and generalizable category-level object pose estimation, most existing methods adopt parametric formulations that learn effective representations from data, yet they primarily encode category-level patterns into fixed shape priors or static parameter weights, which limits their scalability to highly diverse instances.
arXiv:2604.28130v4 Announce Type: replace Abstract: Recent methods for arbitrary-skeleton motion capture from monocular video follow a factorized pipeline, where a Video-to-Pose network predicts join...
arXiv:2504.07335v4 Announce Type: replace Abstract: We propose DLTPose, a novel method for 6DoF object pose estimation from RGBD images that combines the accuracy of sparse keypoint methods with the...
arXiv:2608.21066v1 Announce Type: new Abstract: Deploying autonomous systems in safety-critical domains demands guaranteed robustness against physically plausible geometric perturbations rather than...
arXiv:2609.09491v1 Announce Type: new Abstract: Camera pose estimation is a key step in 3D reconstruction and view-synthesis pipelines. We present a deep, global Structure-from-Motion framework based...
arXiv:2601.13913v3 Announce Type: replace Abstract: We consider monocular 3D human pose estimation (HPE), where the goal is to predict 3D human skeletal joints from a single 2D image, typically via 2...