GenFlow: Generalizable Recurrent Flow for 6D Pose Refinement of Novel Objects

arXiv:2403.11510v1 Announce Type: new
Abstract: Despite the progress of learning-based methods for 6D object pose estimation, the trade-off between accuracy and scalability for novel objects still exists. Specifically, previous methods for novel objects do not make good use of the target object's 3D shape information since they focus on generalization by processing the shape indirectly, making them less effective. We present GenFlow, an approach that enables both accuracy and generalization to novel objects with the guidance of the target object's …

abstract accuracy arxiv cs.cv flow focus good information novel object objects progress scalability trade trade-off type