Unified Category-Level Object Detection and Pose Estimation from RGB Images using 3D Prototypes
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arXiv
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| Autori principali: | , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| _version_ | 1866913974297034752 |
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| author | Fischer, Tom Zhang, Xiaojie Ilg, Eddy |
| author_facet | Fischer, Tom Zhang, Xiaojie Ilg, Eddy |
| contents | Recognizing objects in images is a fundamental problem in computer vision. Although detecting objects in 2D images is common, many applications require determining their pose in 3D space. Traditional category-level methods rely on RGB-D inputs, which may not always be available, or employ two-stage approaches that use separate models and representations for detection and pose estimation. For the first time, we introduce a unified model that integrates detection and pose estimation into a single framework for RGB images by leveraging neural mesh models with learned features and multi-model RANSAC. Our approach achieves state-of-the-art results for RGB category-level pose estimation on REAL275, improving on the current state-of-the-art by 22.9% averaged across all scale-agnostic metrics. Finally, we demonstrate that our unified method exhibits greater robustness compared to single-stage baselines. Our code and models are available at https://github.com/Fischer-Tom/unified-detection-and-pose-estimation. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2508_02157 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Unified Category-Level Object Detection and Pose Estimation from RGB Images using 3D Prototypes Fischer, Tom Zhang, Xiaojie Ilg, Eddy Computer Vision and Pattern Recognition Recognizing objects in images is a fundamental problem in computer vision. Although detecting objects in 2D images is common, many applications require determining their pose in 3D space. Traditional category-level methods rely on RGB-D inputs, which may not always be available, or employ two-stage approaches that use separate models and representations for detection and pose estimation. For the first time, we introduce a unified model that integrates detection and pose estimation into a single framework for RGB images by leveraging neural mesh models with learned features and multi-model RANSAC. Our approach achieves state-of-the-art results for RGB category-level pose estimation on REAL275, improving on the current state-of-the-art by 22.9% averaged across all scale-agnostic metrics. Finally, we demonstrate that our unified method exhibits greater robustness compared to single-stage baselines. Our code and models are available at https://github.com/Fischer-Tom/unified-detection-and-pose-estimation. |
| title | Unified Category-Level Object Detection and Pose Estimation from RGB Images using 3D Prototypes |
| topic | Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2508.02157 |