arXiv 2610.31623 · cs.CV · 2026-10-22
F2G-Pose: Geometry-Aware Foundation Feature Lifting for Direct RGB-D Category-Level Object Pose Estimation
Jinyu Zhang, Haitao Lin, Jiashu Hou, Xiangyang Xue, Yanwei Fu
Shanghai Innovation Institute
One-line takeaway
F2G-Pose achieves real-time, accurate category-level RGB-D pose estimation via geometry-aware feature lifting and a MoE Transformer.
F2G-Pose提出一种实时直接的单次传递框架，通过几何感知特征提升和混合专家Transformer实现从单帧RGB-D数据中准确估计类别级物体位姿与形状。
Quick look: the first sentence of the official arXiv abstract (Chinese is machine-translated). Key points are being written; read the original for details.
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About this data
Metadata from the arXiv API (verified); upvotes from Hugging Face Daily Papers; citations from Semantic Scholar. Last refreshed 2026-10-22.
The takeaway is written by AIMap from the abstract; the abstract itself is not reproduced — read the original.