GS-Pose: Generalizable Segmentation-based 6D Object Pose Estimation with 3D Gaussian Splatting

Dingding Cai, Janne Heikkilä, Esa Rahtu

This paper introduces GS-Pose, a unified framework for localizing and estimating the 6D pose of novel objects. GS-Pose begins with a set of posed RGB images of a previously unseen…