Object Gaussian for Monocular 6D Pose Estimation from Sparse Views

Monocular object pose estimation, as a pivotal task in computer vision and robotics, heavily depends on accurate 2D-3D correspondences, which often demand costly CAD models that may not be readily available. Object 3D reconstruction methods offer an alternative, among which recent advancements in 3D Gaussian Splatting (3DGS) afford a compelling potential. Yet its performance still suffers and tends to overfit with fewer input views. Embracing this challenge, we introduce SGPose, a novel framework for sparse view object pose estimation using Gaussian-based methods. Given as few as ten views, SGPose generates a geometric-aware representation by starting with a random cuboid initialization, eschewing reliance on Structure-from-Motion (SfM) pipeline-derived geometry as required by traditional 3DGS methods. SGPose removes the dependence on CAD models by regressing dense 2D-3D correspondences between images and the reconstructed model from sparse input and random initialization, while the geometric-consistent depth supervision and online synthetic view warping are key to the success. Experiments on typical benchmarks, especially on the Occlusion LM-O dataset, demonstrate that SGPose outperforms existing methods even under sparse view constraints, under-scoring its potential in real-world applications.

PU-EVA: An Edge Vector based Approximation Solution for Flexible-scale Point Cloud Upsampling

High-quality point clouds have practical significance for point-based rendering, semantic understanding, and surface reconstruction. Upsampling sparse, noisy and nonuniform point clouds for a denser and more regular approximation of target objects is a desirable but challenging task. Most existing methods duplicate point features for upsampling, constraining the upsampling scales at a fixed rate. In this work, the flexible upsampling rates are achieved via edge vector based affine combinations, and a novel design of Edge Vector based Approximation for Flexible-scale Point clouds Upsampling (PU-EVA) is proposed. The edge vector based approximation encodes the neighboring connectivity via affine combinations based on edge vectors, and restricts the approximation error within the second-order term of Taylor's Expansion. The EVA upsampling decouples the upsampling scales with network architecture, achieving the flexible upsampling rates in one-time training. Qualitative and quantitative evaluations demonstrate that the proposed PU-EVA outperforms the state-of-the-art in terms of proximity-to-surface, distribution uniformity, and geometric details preservation.