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Generalizable 6D Pose Estimation of Textureless Objects with Planar-based Gaussian Splatting

arXiv · AI, language, vision and robotics · article · Sep 7, 2026 · UTC

Estimating the 6D pose of textureless objects without prior CAD models remains a critical challenge due to the lack of appearance features. While recent generalizable approaches alleviate the dependence on object-specific models, their performance on low-texture objects is often limited by insufficient geometric constraints in the underlying representations. In this work, we propose PG-Pose, a geometry-aware framework combining Planar-based Gaussian Splatting (PGS) reconstruction and Geometry-driven pose optimization. In the offline representation extraction stage, three distinct representatio

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