Research map / 3D vision / Human pose estimation
HS-Pose: Hybrid Scope Feature Extraction for Category-Level Object Pose Estimation
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Measured effects reported in the paper
| What was changed | Where | Measured | Effect |
|---|---|---|---|
| Use HS-Pose instead of GPV-Pose with 10 neighbors | Depth-only category-level pose estimation · REAL275 | IoU_75: 64.4 -> 74.7 | Helped |
| Use HS-Pose instead of GPV-Pose with 10 neighbors | Depth-only category-level pose estimation · 5° 2cm on REAL275 | 5° 2cm: 32.0 -> 46.5 | Helped |
| Use HS-Pose instead of RBP-Pose with 20 neighbors | Depth-only category-level pose estimation · 5° 5cm on CAMERA25 | 5° 5cm: 79.6 -> 82.0 | Helped |
| Use HS-Pose instead of RBP-Pose with 20 neighbors | Depth-only category-level pose estimation · 10° 2cm on CAMERA25 | 10° 2cm: 82.1 -> 80.3 | Hurt |
| Add the outlier robust feature extraction layer (ORL) (ablation) | HS-Pose · REAL275 with outlier ratios from 0.0% to 40.0% | IoU_75, 2cm, and 10° | Helped |
| Set RF-F neighbor count to 10 rather than 3 (ablation) | HS-Pose, with ORL count fixed at 10 · REAL275 | 5° 2cm: 39.8 -> 46.5 | Helped |
| Increase RF-F neighbor count from 10 to 40 (ablation) | HS-Pose, with ORL count fixed at 10 · REAL275 | 5° 2cm: 46.5 -> 41.6 | Hurt |
| Increase RF-F neighbor count from 3 to 40 (ablation) | HS-Pose, with ORL count fixed at 10 · REAL275 | Speed (FPS): 64 -> 30 | Hurt |
| Set ORL neighbor count to 10 rather than 3 (ablation) | HS-Pose, with RF-F count fixed at 10 · REAL275 | 5° 2cm: 43.3 -> 46.5 | Helped |
| Increase ORL neighbor count from 10 to 40 (ablation) | HS-Pose, with RF-F count fixed at 10 · REAL275 | IoU_75: 74.7 -> 71.1 | Hurt |
| Increase ORL neighbor count from 3 to 40 (ablation) | HS-Pose, with RF-F count fixed at 10 · REAL275 | Speed (FPS): 52 -> 49 | No clear effect |
| Set RF-F and ORL neighbor counts jointly to 20 rather than 10 (ablation) | HS-Pose · REAL275 | IoU_75: 74.7 -> 75.3 | Helped |
Closest papers by meaning
- GeoReF: Geometric Alignment Across Shape Variation for Category-level Object Pose Refinement (CVPR 2024 · similarity 0.87)
- GCE-Pose: Global Context Enhancement for Category-level Object Pose Estimation (CVPR 2025 · similarity 0.86)
- SecondPose: SE(3)-Consistent Dual-Stream Feature Fusion for Category-Level Pose Estimation (CVPR 2024 · similarity 0.86)
- GIVEPose: Gradual Intra-class Variation Elimination for RGB-based Category-Level Object Pose Estimation (CVPR 2025 · similarity 0.86)
- Rethinking Correspondence-based Category-Level Object Pose Estimation (CVPR 2025 · similarity 0.85)
- ImageNet3D: Towards General-Purpose Object-Level 3D Understanding (NeurIPS 2024 · similarity 0.85)
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