SecondPose: SE(3)-Consistent Dual-Stream Feature Fusion for Category-Level Pose Estimation

arXiv:2311.11125v3 Announce Type: replace
Abstract: Category-level object pose estimation, aiming to predict the 6D pose and 3D size of objects from known categories, typically struggles with large intra-class shape variation. Existing works utilizing mean shapes often fall short of capturing this variation. To address this issue, we present SecondPose, a novel approach integrating object-specific geometric features with semantic category priors from DINOv2. Leveraging the advantage of DINOv2 in providing SE(3)-consistent semantic features, we hierarchically extract two types of SE(3)-invariant geometric …

abstract arxiv class consistent cs.cv feature fusion issue mean novel object objects type variation