Category-Level Articulated Object Pose Estimation

Understand

This project addresses the task of category-level pose estimation for articulated objects from a single depth image.

• We present a novel category-level approach that correctly accommodates object instances previously unseen during training.
• We introduce Articulation-aware Normalized Coordinate Space Hierarchy (ANCSH) - a canonical representation for different articulated objects in a given category.
• As the key to achieve intra-category generalization, the representation constructs a canonical object space as well as a set of canonical part spaces.