Instance-Adaptive and Geometric-Aware Keypoint Learning for Category-Level 6D Object Pose Estimation

arXiv:2403.19527v1 Announce Type: new
Abstract: Category-level 6D object pose estimation aims to estimate the rotation, translation and size of unseen instances within specific categories. In this area, dense correspondence-based methods have achieved leading performance. However, they do not explicitly consider the local and global geometric information of different instances, resulting in poor generalization ability to unseen instances with significant shape variations. To deal with this problem, we propose a novel Instance-Adaptive and Geometric-Aware Keypoint Learning method for category-level 6D object …

abstract arxiv cs.cv global however information instance instances object performance rotation translation type