GeoReF: Geometric Alignment Across Shape Variation for Category-level Object Pose Refinement

arXiv:2404.11139v1 Announce Type: new
Abstract: Object pose refinement is essential for robust object pose estimation. Previous work has made significant progress towards instance-level object pose refinement. Yet, category-level pose refinement is a more challenging problem due to large shape variations within a category and the discrepancies between the target object and the shape prior. To address these challenges, we introduce a novel architecture for category-level object pose refinement. Our approach integrates an HS-layer and learnable affine transformations, which aims to …

abstract alignment arxiv cs.cv instance object progress robust type variation work