OnePose++: Keypoint-Free One-Shot Object Pose Estimation without CAD Models

Understand

We propose a new method for object pose estimation without CAD models.

• The previous feature-matching-based method OnePose has shown promising results under a one-shot setting which eliminates the need for CAD models or object-specific training.
• However, OnePose relies on detecting repeatable image keypoints and is thus prone to failure on low-textured objects.
• We propose a keypoint-free pose estimation pipeline to remove the need for repeatable keypoint detection.