F2G-Pose: Geometry-Aware Foundation Feature Lifting for Direct RGB-D Category-Level Object Pose Estimation

Paper recorded by Signals 4 on 2026-10-22 in cs.CV. Abstract reproduced from arXiv; link to the original below.

Published 2026-10-22 on arXiv · recorded by Signals 4 on 2026-10-23

Category: cs.CV · 计算机视觉 · first seen 2026-10-23

Abstract

This paper studies category-level RGB-D object pose estimation, which recovers an object's 3D rotation and translation without instance-specific CAD models or reference views. This task is highly ambiguous due to intra-class variations, symmetries, and partial observations. Current solutions struggle to balance reliability and efficiency: methods based on intermediate structures are prone to error

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