AG-Pose

Category‑level 6D object pose estimation.

AG‑Pose is a category‑level 6D object pose estimation model that predicts rotation, translation, and size of objects from RGB‑D input. It uses DINOv2‑S (ViT‑S/14) as the RGB backbone and PointNet++ for 3D point cloud processing, with an Instance‑Adaptive Keypoint Detector (IAKD) and Geometric‑Aware Feature Aggregator (GAFA) for robust pose estimation across 6 object categories.