Author

Benjamin Busam

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Preprint Sep 2026

LEGAU: Learning Semantic Gaussian Priors for Scalable Category-level Pose Estimation

Category-level 6D pose estimation from a single RGB-D observation is inherently under-constrained, since partial visible geometry must be interpreted together with a canonical object structure before a stable pose can be determined. We present LEGAU, a unified framework that jointly predicts NOCS correspondence, object...

Hong-Li Xu, Zhao-Wei Lu, Jun-Wen Huang et al. · 0 citations

Preprint Sep 2026

Track2Art: Articulated Object Model Recovery with Visual-Geometric Track Representations

Understanding articulated objects is fundamental for robotic interaction, requiring accurate rigid-part discovery and the recovery of their kinematic relations. Existing approaches often treat articulation as a by-product of reconstructed geometry or recover it through per-instance optimization. We instead build on the...

Xiao-Tong Li, Yi-Xiong Jing, Jun-Sheng Ding et al. · 0 citations