Papers › Generative Category-Level Shape and Pose Estimation with Semantic Primitives

Generative Category-Level Shape and Pose Estimation with Semantic Primitives

3 Oct 2022arXiv:2210.01112archive 2025-07-28

Guanglin Li, Yifeng Li, Zhichao Ye, Qihang Zhang, Tao Kong, Zhaopeng Cui, Guofeng Zhang

Empowering autonomous agents with 3D understanding for daily objects is a grand challenge in robotics applications. When exploring in an unknown environment, existing methods for object pose estimation are still not satisfactory due to the diversity of object shapes. In this paper, we propose a novel framework for category-level object shape and pose estimation from a single RGB-D image. To handle the intra-category variation, we adopt a semantic primitive representation that encodes diverse shapes into a unified latent space, which is the key to establish reliable correspondences between observed point clouds and estimated shapes. Then, by using a SIM(3)-invariant shape descriptor, we gracefully decouple the shape and pose of an object, thus supporting latent shape optimization of target objects in arbitrary poses. Extensive experiments show that the proposed method achieves SOTA pose estimation performance and better generalization in the real-world dataset. Code and video are available at https://zju3dv.github.io/gCasp.

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Code

zju3dv/gcasp officialmentioned on GitHubpytorch report

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Tasks

6D Pose Estimation using RGBD Diversity Object Pose Estimation

Results from the paper archive 2025-07-28

Task	Dataset	Model	Metric	Value	Rank at snapshot	Leaderboard	Report
6D Pose Estimation using RGBD	REAL275	gcasp	mAP 10, 2cm	64.2	#2 of 11	Archive leaderboard	report
6D Pose Estimation using RGBD	REAL275	gcasp	mAP 10, 5cm	76.3	#2 of 11	Archive leaderboard	report
6D Pose Estimation using RGBD	REAL275	gcasp	mAP 3DIou@50	79.0	#2 of 11	Archive leaderboard	report
6D Pose Estimation using RGBD	REAL275	gcasp	mAP 3DIou@75	65.3	#2 of 11	Archive leaderboard	report
6D Pose Estimation using RGBD	REAL275	gcasp	mAP 5, 2cm	46.9	#2 of 11	Archive leaderboard	report
6D Pose Estimation using RGBD	REAL275	gcasp	mAP 5, 5cm	54.7	#2 of 11	Archive leaderboard	report

Ranks are positions in the archive's leaderboards as they stood at the 2025-07-28 snapshot. Results published since then are not among these rows, so a rank here is not a current standing.

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