ConceptPose delivers state-of-the-art zero-shot relative pose estimation by matching open-vocabulary 3D concept vectors derived from VLM saliency maps, beating the strongest baseline by 62% in ADD(-S) without training.
Freeze: Training-free zero-shot 6d pose estimation with geometric and vision foundation models
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ConceptPose: Training-Free Zero-Shot Object Pose Estimation using Concept Vectors
ConceptPose delivers state-of-the-art zero-shot relative pose estimation by matching open-vocabulary 3D concept vectors derived from VLM saliency maps, beating the strongest baseline by 62% in ADD(-S) without training.