SchemaPose: RGB-Based Category-Level Pose Estimation with Parametric Category Schema
RGB-based category-level 9D pose estimation remains highly challenging because a monocular system must generalize across unseen object instances while jointly inferring 3D translation, 3D rotation, and 3D size. Unlike instance-level pose estimation, the category-level setting requires the network to learn both what is shared across objects within a category and how individual instances vary in structure. This challenge is amplified in the RGB-only setting, where pose cues, category-level commonality, and instance-specific variation are entangled in appearance without direct geometric constraints, making it difficult for existing frameworks to learn a representation that is truly aligned w...
| Authors | Shuang Wu, Jiude Wei, Cewu Lu et al. |
|---|---|
| Primary category | cs.CV |
| Published | 13 October 2026 |
| Last updated at source | 13 October 2026 |
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