Year: 2025
Type: conference-paper
Abstract: In this paper, we present a novel generalizable object pose estimation method to determine the object pose using only one RGB image. Unlike traditional approaches that rely on instance-level object pose estimation and necessitate extensive training data, our method offers generalization to unseen objects without extensive training, operates with a single reference image of the object, and eliminates the need for 3D object models or multiple views of the object. These characteristics are achieved by utilizing a diffusion model to generate novel-view images and conducting a two-sided matching on these generated images. Quantitative experiments demonstrate the superiority of our method over existing pose estimation techniques across both synthetic and real-world datasets. Remarkably, our approach maintains strong performance even in scenarios with significant viewpoint changes, highlighting its robustness and versatility in challenging conditions. The code will be released at https://github.com/scy639/Gen2SM.
Authors: Yujing Sun, Caiyi Sun, Yuan Liu, Yuexin Ma, Siu Ming Yiu
Institutions: University of Hong Kong, ShanghaiTech University
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W4409262073