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.
By Xiao Lin, Minghao Zhu, Yun Peng, Liuyi Wang, Qiyi Wang, Chengju Liu, Qijun Chen
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...
By Yang You, Yi Du, Cole Harrison, Leonidas Guibas
RYOPO is an end‑to‑end query‑based RGB‑D set predictor that jointly detects, segments, and estimates 9‑DoF poses of unseen instances within known categories without relying on external instance segmentation or CAD priors. It uses shared image and scene encoding, a query‑conditioned geometry pathway, and object‑centric refinement with pose‑conditioned cross‑attention to achieve accurate pose estimation. On benchmark datasets such as NOCS, REAL275, and HouseCat6D, RYOPO outperforms published methods and runs in real time at 31.8 FPS on an RTX A6000.
By Hakjin Lee, Junghoon Seo, Jaehoon Sim
F2G-Pose is a real‑time, single‑pass framework for category‑level RGB‑D object pose estimation that predicts 3D rotation, translation, metric size, and a completed camera‑frame shape from a single RGB‑D observation. It lifts dense visual foundation features to partial point clouds, encodes local geometry with DGCNN tokenization, and uses a Mixture‑of‑Experts Transformer to integrate object‑level structure. Trained only on pose‑annotated synthetic SOPE data and leveraging a frozen RADIO backbone, F2G‑Pose achieves state‑of‑the‑art accuracy on SOPE and ROPE while running at 28 FPS for pose‑only inference and demonstrates strong geometry completion on HouseCat6D and real‑object transfer on HANDAL.
By Jinyu Zhang, Haitao Lin, Jiashu Hou, Xiangyang Xue, Yanwei Fu
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. In this paper, we rethink category-level pose estimation from a memory-centric perspective and present MemPose, a memory-augmented framework that explicitly incorporates category-level geometric memory into the pose estimation pipeline.