3D-Aware Hypothesis & Verification for Generalizable Relative Object Pose Estimation

Understand

Prior methods that tackle the problem of generalizable object pose estimation highly rely on having dense views of the unseen object.

• By contrast, we address the scenario where only a single reference view of the object is available.
• Our goal then is to estimate the relative object pose between this reference view and a query image that depicts the object in a different pose.
• In this scenario, robust generalization is imperative due to the presence of unseen objects during testing and the large-scale object pose variation between the reference and the query.