RAG-6DPose retrieves visual and geometric CAD features by cross-attention and fuses them into pose decoding, achieving state-of-the-art average recall on five BOP benchmarks.
Center-based decoupled point cloud registration for 6d object pose estimation,
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RAG-6DPose: Retrieval-Augmented 6D Pose Estimation via Leveraging CAD as Knowledge Base
RAG-6DPose retrieves visual and geometric CAD features by cross-attention and fuses them into pose decoding, achieving state-of-the-art average recall on five BOP benchmarks.