GS-Pose: Cascaded Framework for Generalizable
Segmentation-based 6D Object Pose Estimation

Dingding Cai
Tampere University
Janne Heikkilä
University of Oulu
Esa Rahtu
Tampere University

Paper
Code

Overview of GS-Pose

(1). Create the reference database for a newly added object

(2). Perform pose estimation for the added object

(Additional) (3). Perform pose tracking for the added object

Comparison with OnePose++

All results are from single-frame pose estimation without tracking. Ours achieves relatively more stable and accurate results.

Pose Tracking Results

We compare the pose estimation results with/without pose tracking.

Quantitative Results

Citation

@InProceedings{cai_2024_GSPose,
    author    = {Cai, Dingding and Heikkil\"a, Janne and Rahtu, Esa},
    title     = {GS-Pose: Cascaded Framework for Generalizable Segmentation-based 6D Object Pose Estimation},
    journal   = {arXiv preprint arXiv:2403.10683},
    year      = {2024},
}

Acknowledgements

This webpage template is based on link.

GS-Pose: Cascaded Framework for Generalizable Segmentation-based 6D Object Pose Estimation

Paper

Code