{"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/hs-pose-hybrid-scope-feature-extraction-for","title":"HS-Pose: Hybrid Scope Feature Extraction for Category-level Object Pose Estimation","arxiv_id":"2303.15743","date":"2023-03-28","proceeding":"CVPR 2023 1","authors":["Linfang Zheng","Chen Wang","Yinghan Sun","Esha Dasgupta","Hua Chen","Ales Leonardis","Wei zhang","Hyung Jin Chang"],"abstract":"In this paper, we focus on the problem of category-level object pose estimation, which is challenging due to the large intra-category shape variation. 3D graph convolution (3D-GC) based methods have been widely used to extract local geometric features, but they have limitations for complex shaped objects and are sensitive to noise. Moreover, the scale and translation invariant properties of 3D-GC restrict the perception of an object's size and translation information. In this paper, we propose a simple network structure, the HS-layer, which extends 3D-GC to extract hybrid scope latent features from point cloud data for category-level object pose estimation tasks. The proposed HS-layer: 1) is able to perceive local-global geometric structure and global information, 2) is robust to noise, and 3) can encode size and translation information. Our experiments show that the simple replacement of the 3D-GC layer with the proposed HS-layer on the baseline method (GPV-Pose) achieves a significant improvement, with the performance increased by 14.5% on 5d2cm metric and 10.3% on IoU75. Our method outperforms the state-of-the-art methods by a large margin (8.3% on 5d2cm, 6.9% on IoU75) on the REAL275 dataset and runs in real-time (50 FPS).","url_abs":"https://arxiv.org/abs/2303.15743v1","url_pdf":"https://arxiv.org/pdf/2303.15743v1.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":"hs-pose-hybrid-scope-feature-extraction-for","repo_url":"https://github.com/lynne-zheng-linfang/hs-pose","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"MIT"}}],"tasks":[{"task_slug":"pose-estimation","task_name":"Pose Estimation"},{"task_slug":"translation","task_name":"Translation"}],"methods":[{"method_slug":"convolution","method_name":"Convolution"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2303.15743","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2303.15743"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/lynne-zheng-linfang/hs-pose","reach":{"status":"ok","spdx":"MIT"}}],"summary":{"unverified":9},"by_repo_kind":{"official":{"samples":9,"ran":0,"repositories":1}},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":0,"samples":[{"code_sha256_prefix":"c26e5139544812be","entry":"control_loss","repo":"lynne-zheng-linfang/hs-pose","repo_kind":"official","path":"engine/organize_loss.py","file_url":"https://github.com/lynne-zheng-linfang/hs-pose/blob/HEAD/engine/organize_loss.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"c26e5139544812be"}},{"code_sha256_prefix":"1907108fce7bbe9a","entry":"defor_2D","repo":"lynne-zheng-linfang/hs-pose","repo_kind":"official","path":"datasets/data_augmentation.py","file_url":"https://github.com/lynne-zheng-linfang/hs-pose/blob/HEAD/datasets/data_augmentation.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"1907108fce7bbe9a"}},{"code_sha256_prefix":"479152e874348de6","entry":"defor_3D_bb","repo":"lynne-zheng-linfang/hs-pose","repo_kind":"official","path":"datasets/data_augmentation.py","file_url":"https://github.com/lynne-zheng-linfang/hs-pose/blob/HEAD/datasets/data_augmentation.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"479152e874348de6"}},{"code_sha256_prefix":"3bbbbac6f123a273","entry":"defor_3D_bb_in_batch","repo":"lynne-zheng-linfang/hs-pose","repo_kind":"official","path":"datasets/data_augmentation.py","file_url":"https://github.com/lynne-zheng-linfang/hs-pose/blob/HEAD/datasets/data_augmentation.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"3bbbbac6f123a273"}},{"code_sha256_prefix":"b7549cd87fb0c3ec","entry":"expected_wrt_occupancy","repo":"lynne-zheng-linfang/hs-pose","repo_kind":"official","path":"nnutils/layers.py","file_url":"https://github.com/lynne-zheng-linfang/hs-pose/blob/HEAD/nnutils/layers.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"b7549cd87fb0c3ec"}},{"code_sha256_prefix":"6709651c2a3bfacd","entry":"expected_wrt_prob","repo":"lynne-zheng-linfang/hs-pose","repo_kind":"official","path":"nnutils/layers.py","file_url":"https://github.com/lynne-zheng-linfang/hs-pose/blob/HEAD/nnutils/layers.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"6709651c2a3bfacd"}},{"code_sha256_prefix":"715f90a0136b95bb","entry":"laplacian_cot","repo":"lynne-zheng-linfang/hs-pose","repo_kind":"official","path":"nnutils/laplacian_loss.py","file_url":"https://github.com/lynne-zheng-linfang/hs-pose/blob/HEAD/nnutils/laplacian_loss.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"715f90a0136b95bb"}},{"code_sha256_prefix":"ac4d8b3cbad04fcc","entry":"mesh_laplacian_smoothing","repo":"lynne-zheng-linfang/hs-pose","repo_kind":"official","path":"nnutils/laplacian_loss.py","file_url":"https://github.com/lynne-zheng-linfang/hs-pose/blob/HEAD/nnutils/laplacian_loss.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"ac4d8b3cbad04fcc"}},{"code_sha256_prefix":"ded17a074ea35ec9","entry":"occupancy_to_prob","repo":"lynne-zheng-linfang/hs-pose","repo_kind":"official","path":"nnutils/layers.py","file_url":"https://github.com/lynne-zheng-linfang/hs-pose/blob/HEAD/nnutils/layers.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"MIT","inline_ok":true,"mcp_get_code":{"code_sha256":"ded17a074ea35ec9"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}