GNC-Pose achieves competitive 6D pose accuracy on the YCB dataset for textured objects using only geometric priors, rendering initialization, and robust GNC optimization without any learned features or training data.
In: European Conference on Computer Vision
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GNC-Pose: Geometry-Aware GNC-PnP for Accurate 6D Pose Estimation
GNC-Pose achieves competitive 6D pose accuracy on the YCB dataset for textured objects using only geometric priors, rendering initialization, and robust GNC optimization without any learned features or training data.