{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/catre-iterative-point-clouds-alignment-for","title":"CATRE: Iterative Point Clouds Alignment for Category-level Object Pose Refinement","arxiv_id":"2207.08082","date":"2022-07-17","proceeding":null,"authors":["Xingyu Liu","Gu Wang","Yi Li","Xiangyang Ji"],"abstract":"While category-level 9DoF object pose estimation has emerged recently, previous correspondence-based or direct regression methods are both limited in accuracy due to the huge intra-category variances in object shape and color, etc. Orthogonal to them, this work presents a category-level object pose and size refiner CATRE, which is able to iteratively enhance pose estimate from point clouds to produce accurate results. Given an initial pose estimate, CATRE predicts a relative transformation between the initial pose and ground truth by means of aligning the partially observed point cloud and an abstract shape prior. In specific, we propose a novel disentangled architecture being aware of the inherent distinctions between rotation and translation/size estimation. Extensive experiments show that our approach remarkably outperforms state-of-the-art methods on REAL275, CAMERA25, and LM benchmarks up to a speed of ~85.32Hz, and achieves competitive results on category-level tracking. We further demonstrate that CATRE can perform pose refinement on unseen category. Code and trained models are available.","url_abs":"https://arxiv.org/abs/2207.08082v1","url_pdf":"https://arxiv.org/pdf/2207.08082v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"catre-iterative-point-clouds-alignment-for","repo_url":"https://github.com/thu-da-6d-pose-group/catre","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"object","task_name":"Object"},{"task_slug":"pose-estimation","task_name":"Pose Estimation"}],"methods":[{"method_slug":"aware","method_name":"AWARE"},{"method_slug":"speed","method_name":"SPEED"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2207.08082","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}