insight - Object Pose Estimation
Addressing Pose Ambiguity in 6D Object Pose Estimation via Score-Based Diffusion on SE(3)
A novel score-based diffusion method applied to the SE(3) group, marking the first application of diffusion models to SE(3) within the image domain, specifically tailored for pose estimation tasks.
TransPose: 6D Object Pose Estimation with Geometry-Aware Transformer
The proposed TransPose framework exploits Transformer Encoder with a geometry-aware module to develop better learning of point cloud feature representations for accurate 6D object pose estimation.