MK-Pose reaches state-of-the-art category-level 6D pose accuracy on REAL275 and CAMERA25 by fusing RGB, depth, and category text with self-supervised keypoints, and reports large zero-shot gains over AG-Pose on HouseCat6D.
Category-level 6d object pose and size estimation using self-supervised deep prior deformation networks,
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MK-Pose: Category-Level Object Pose Estimation via Multimodal-Based Keypoint Learning
MK-Pose reaches state-of-the-art category-level 6D pose accuracy on REAL275 and CAMERA25 by fusing RGB, depth, and category text with self-supervised keypoints, and reports large zero-shot gains over AG-Pose on HouseCat6D.