Object Pose EstimationIntermediate
RYOPO: Bringing End-to-End Category-Level Object Pose Estimation into Real Time
RYOPO is an end-to-end RGB-D model that jointly detects, segments, and estimates 9-DoF category-level object poses without CAD shape priors or an external instance segmentor. On NOCS REAL275 it reaches 52.5 AP at 5°5cm in joint evaluation and 51.1 AP in all-object evaluation, while running at 31.8 FPS on an RTX A6000. This is a preprint; the speed-accuracy balance matters for real-time manipulation where crop-based pipelines scale poorly with object count.