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arXiv AI By Chenxi Tao, Seung-Kyum Choi

Where Appearance Fails, Geometry Recognizes: A CAD-Free 3D Shape Prior That Complements Vision Foundation Models

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The paper introduces a CAD‑free 3D shape prior that enhances object recognition by reconstructing each object with 3D Gaussian Splatting (3DGS) from short RGB‑D scans and fusing the resulting shape prototype with frozen DINOv2 image features. Experiments on T‑LESS and HOPE datasets show that geometry alone can match or exceed CAD‑based recognition, and that the combined approach improves performance, especially on shape‑distinctive or partially occluded objects. The study demonstrates that the benefit comes from the geometric information rather than rendered pixels, and that the prior is complementary to frozen vision features.

Machine-generated by The Flow from the publisher's headline and feed description — not written or checked by a human. The full article lives at arXiv AI.

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