Author

Tomi Westerlund

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Preprint Sep 2026

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

PG-Pose, a geometry-aware framework combining Planar-based Gaussian Splatting (PGS) reconstruction and Geometry-driven pose optimization for industrial robots in grasping tasks, is proposed and deployed on a dual-arm industrial robot and successfully realizes the grasping task on an unseen object.

Jie Lu, Heng-Tan Zhang, Li Gong et al. · 0 citations

#machine learning Preprint Aug 2026

FiLM-GPNet: Geometry-Aware Pseudo-Supervised Phase Restoration with Zero-Shot Generalization for Large Temporal InSAR Stacks

FiLM-GPNet is proposed, a geometry-conditioned network for wrapped-phase restoration that explicitly adapts to acquisition differences using Feature-wise Linear Modulation (FiLM) and a 7D per-pair geometry descriptor, supporting geometry-conditioned restoration as an effective alternative to fixed classical filtering a...

Getnet Demil, Muhammad Farhan Humayun, Tomi Westerlund et al. · 0 citations