AI RESEARCH
GNC-Pose: Geometry-Aware GNC-PnP for Accurate 6D Pose Estimation
arXiv CS.CV
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ArXi:2512.06565v2 Announce Type: replace We present GNC-Pose, a fully learning-free monocular 6D object pose estimation pipeline for textured objects that combines rendering-based initialization, geometry-aware correspondence weighting, and robust GNC optimization. Starting from coarse 2D-3D correspondences obtained through feature matching and rendering-based alignment, our method builds upon the Graduated Non-Convexity (GNC) principle and